A vibration of the rotor wit imitation crack was experimentally studied in the first report and it was shown that the additional resonances at 1/2, 1/3, 1/4 and 1/5 of the critical speed and the unstable vibration at 2/3 of the critical speed are caused by the imitation crack. Since the rotor with imitation crack is qualitatively modeled to a cracked shaft with a disk, the unstable vibration and the forced vibration of the modeled rotor have been analyzed in this paper. As a result, it is obtained that the unstable regions exist at 2 times, a time, 2/3 and 1/2 of the critical speed and that the resonances are caused at 1/2, 1/3, 1/4 and 1/5 of the critical speed by a gravity effect. Then the relation between the experimental result in the first report and the influence of the crack is discussed.

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An analysis is presented for the free vibration of a spinning spherical shell. For this purpose, the governing equations and the boundary conditions of the shell are derived by applying Hamilton's principle to the strain and kinetic energies of the shell. The variables in the equations can be written as summation of the quasi-static components which are independent of time and the dynamic ones. The linear equations on the vibration about the deformed state are solved by using the transfer matrix method. The method is applied to a spinning clamped-free spherical shell. The quasi-static and dynamic displacements and the frequency parameters are calculated numerically, and the effects of the spinning of the shell on the free vibration are studied.

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An experimental investigation of the self-excited whirling of a rigid rotor partially or fully filled with liquid on an elastic support has been performed. Vibrations of amplitudes of the support springs are measured and analyzed by FIT under various conditions, such as rotating speed, fluid fill ratio, of fluid viscosity. The experimental results are compared with the theoretical predictions of previous authors. As a result, it was found that an unstable state may appear even for a completely full-filled rotor, and that there must be a different phenomenon from that for a partially-filled rotor. Conical mode is also observed in addition to parallel mode, which has a very wide unstable range of rotating speed.

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The characteristics of turbulence-induced tube bundle vibration in such cross and parallel jet mixed flow fields as those in heat exchangers were basically investigated. In various flow fields, tube vibration and flow velocity distribution in a tube bundle were measured. The results show that the relation between tube vibration and flow distribution was cleared, and mixed flow-induced tube vibration could be evaluated on the basis of the characteristics of both cross and parallel jet flow induced vibration. From these investigations it could be concluded that the characteristics of tube vibration for various flow distributions can be systematically evaluated.

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The lateral vibration of a cantilevered flexible pipe hanging vertically and conveying fluid, which is parametrically excited by the vertical motion at the upper end, is examined theoretically and experimentally. The complex amplitude equation of the vibration is derived from nonlinear coupled equations for axial flow velocity and lateral deflection of the pipe. Using the derived equation, the effects of the exciting frequency and amplitude on the steady-state vibration are mainly investigated just under the flow velocity corresponding to the neutral stability of the self-excited vibration of the pipe. Furthermore, the experiment was conducted with a flexible pipe model conveying water. The parametrically excited vibration of the pipe was observed as predicted in the theory.

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The free oscillation of a liquid in an axisymmetric container in low-gravity environments is investigated. An analytical method is developed, in which the compatibility condition of the liquid surface displacement is treated reasonably by using spherical coordinates. A variational principle is introduced to formulate the liquid sloshing which considers surface tension as well as gravitational force. Galerkin's method is used to derive the frequency equation. A convenient numerical procedure is presented for calculating the natural frequency, slosh force and moment as a function of the Bond number. The influence of the Bond number on the numerical results is investigated.

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A squeal phenomenon in an electromagnetic clutch depends not only on time-independent factors (shape and size, natural frequencies and damping ratios of a rotor and an armature) but also on variable factors (a contact region and a contact position). In this paper, the stability of a two-disk system modeled after a practical clutch is discussed theoretically. Numerical calculations based on this squeal theory show the influence of a contact region and a contact position on the squeal : (1) the fourth mode squeal is generated when an armature is in contact with the outer pole of a rotor ; (2) the lower mode squeal is generated when the armature is in contact with the outer part of the facing surface of the rotor ; (3) no squeal is generated when the armature is in contact with the entire facing surface or with the inner pole of the rotor.

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This paper presents a simple and effective substructure synthesis method by experimental and finite element techniques in which the important influence of rotational effects on the determination of dynamic compliance at the common boundary has been taken into account. To satisfy the rotational compatibility at the common boundary, an experimental procedure is proposed to measure the angular acceleration. To demonstrate the applicability of the numerical simulation provided, two simple models of beam-beam and beam-plate type structures are investigated. Good agreement is shown among the three results by finite element simulation, a substructure synthesized method and experimental model analysis.

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The generating mechanism and the behavior of chatter vibration have been investigated in detail for a long time. On the other hand, very few reports have been appeared about the positive detection of chatter vibration. However, establishment of an objective method which can detect the commencing of chatter vibration in a process and its practical suppression method are the most important and urgent problems for automatic manufacturing systems. In this paper, a simple and practical approach is proposed to detect the occurrence of chatter vibration in a process and its applicability is investigated. According to the approach in this study, the occurrence of chatter vibration is detected from a trend of the factor which is produced from the signal of workpiece deflection. The authors have constructed a simple and practical hardware system using an analogue circuit developed for suppressing chatter. They have been also investigated its applicability to the manufacturing field. The authors obtained satisfactory results in this study.

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The respiratory dynamics of an excised lung are studied in terms of a numerical simulation to determine the surface tension influence. For a model of lung dynamics consisting of an airway network and parenchyma subsystems, the gas-tissue interaction including the surface tension on the parenchymal microstructure is taken into account. Under a given environment and considering the interdependence of the subsystems, the flow equations modified by an airway elasticity of finite deformation are solved by a finite element scheme based on the adjoint variational principle. A simple but reasonable model is proposed and incorporated into the total model to describe the surface tension influence. Though several case studies with this model, it is demonstrated that the surface tension is significantly important to lung dynamics including stability of respiration.

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It is not always possible to obtain the characteristics matrices from model parameters obtained by experimental model analysis such as curve fitting. For example, if the degrees of freedom of a mathematical model analysis such as curve fitting. For example, if the degrees of freedom of a mathematical model are different from those of the structure identified, in almost all cases, contradiction occurs between the model parameters when transformed to physical parameters. This paper proposes a method of identifying the physical mass, stiffness and damping matrices from model parameters without contradiction using a nonlinear optimization technique with equality constraints. A new curve fitting method in the frequency domain is also proposed. Some numerical and experimental model are examined to validate this method.

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In this report, the authors propose a new method for structural dynamic modification. The resonance sensitivity and anti-resonance sensitivity of a structure are used in the proposed method. Both sensitivities can be calculated much more easily than the sensitivity for the natural modes because of the simplicity of the calculational procedure. Therefore, this method has a high degree of efficiency. The target peaks of resonance are removed by making the vibration node coincide with an exciting point. As a result, cancel of the resonance peaks is achieved. In this paper, the theory of the proposed method is explained at first. Secondly, the effectiveness of this method is concretely shown with two applications : a 6-degrees-of-freedom system and a rectangular plate. In the latter application, an experiment is also performed in order to verify the effectiveness and accuracy of the method.

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A method for modifying characteristic matrices (such as stiffness and mass matrices) derived from FEM analysis by eigenpairs measured through experiments is studied from two points of view using an FEM beam model. One is reducing the number of design variables, and the other is selecting the eigenvector sensitivity analysis method which provides the most effective modification. The former can be accomplished quatitatively by a method called the "Quasi-Stiffness Matrix Method." To determine the latter, several sensitivity analysis methods were tries in combination with the variable metric method in solving a problem involving simultaneous identification of multiple eigenvectors, and the "Simultaneous Inverse Sensitivity" which the authors developed was found to be most effective.

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Our first report described a method in which eigenpairs measured through experiments are used to modify stiffness matrices derived from FEM analysis. We conducted the identification analysis by combining sensitivity and optimum analysis techniques. The "Simultaneous Iteration Sensitivity Method" developed by one of the authors was found to be most effective in such an identification. In this report, we attempt to identify design variables with frequency response. We begin this process by identifying the design variables eigenmodes within a significant frequency range. Then, we identify the modified design variables with the frequency response of a significant structural point. We demonstrate that a correct identification can be obtained through this process and the residual compliance matrix can be acquired through experiments which has been very difficult to accomplish previously. The effectiveness of the eigenmode sensitivity analysis method used in this study. that is, "The Simultaneous Iteration Sensitivity Method", was increased by calculating the triangular decompostion of the changed structure using that of the present structure.

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A design method for the active vibration control system using disturbance estimation is proposed. Here, we assume that the disturbance is an output of the deterministic r-th-order linear time polynomial system. Vibration caused by the unknown disturbance is controlled by feeling back the estimated value of the disturbance. Such a feedback control law is realized by a servo system which includes an r-th integrator in its loop based on the internal model principle. Results are examined by simple experiment.

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In this paper, the modeling and control of flexible structure systems are studied by taking an elastic arm system as an example. Especially, high-speed positioning control suppressing spillover instability is examined. First of all, an equation of motion is derived using the finite element method for a controlled object, and a modal analysis is applied to the equation in order to obtain a reduced order model of the object. Subsequently, the transfer function method based on design freedom is adopted to design the controller. The effectiveness of the controller derived by this method is demonstrated in computer simulation results on time responses. Also, the results are compared with those obtained by the theory of optimal control.

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In this study, the control characteristics of two kinds of dynamic vibration absorber (D. V. A.), an active D. V. A. with a feedback link alone and an active D. V. A. with feedback and feedforward links, are considered and compared to those of a passive D. V. A. Particularly, the relationships between the control performance and the criterion, the mass ratio or the input characteristics are investigated. Furthermore, in order to examine the robustness of the three kinds of D. V. A., the influences of changes of system parameters and input characteristics on the control performances are clarified. As a result, the fundamental design data on the active dynamic vibration absorbers are obtained.

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This paper discusses the state deadbeat control problem for a single-input discrete-time linear time-invariant system when the setting time is larger than the other of the controlled system. First, the single-input deadbeat principle which is satisfied by the general deadbeat input is obtained. This principle is expresses by the feedback form. Then, by using this principle, the problem of minimizing the input energy for the specified settling time is formulated, and the optimal input is obtained implicitly by using the special Riccati equation. Finally, the optimal input is obtained explicitly.

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The compliance control of a robotic arm and an end-effector plays and important role in assembly tasks. In the previous paper, we proposed a Direct Comliance Control (DCC) method for a serial link arm. As a serial link arm suitable for DCC includes redundant degrees of freedom for the position control of the end-effector location, difficulties occur when command angles to each arm joint must be determined by solving inverse kinematic equations. This paper proposes DCC for parallel link arms that have no redundant degrees of freedom to decide the end-effector position and orientation. The relation between the compliance of the end-effector and that of each joint is presented and the decoupling condition of the compliance matrix is discussed through using computer simulation techniques. To confirm the analytical results, a 2 D. O. F. planar parallel link arm with DCC was designed as an experimental setup, and several experiments were carried out using it. From a comparison of the analytical results, it was found that the mathematical model could effectively be used to describe the behavior of the arm, thus confirming the validity of the simulation results.

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This paper presents an application of a self tuning regulator to the control of a known amount of granules from a hopper. Generally, there are many kinds of stochastic disturbances in the processes handling granules. For such processes, it is difficult to obtain a good performance by using conventional control methods. There fore, we attempted to apply the self-tuning regulator to the process. In order to do this, it was necessary to have models of the process dynamics and of the disturbances. First, modeling of the disturbances is discussed, and the self-tuning algorithm is applied to our process. As for the results, it is shown that the self-tuning regulator is more robust and is very useful for the processes handling granules.

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This paper describes the dynamic behavior of valves with pneumatic chambers for reciprocating compressors. These are known as 'damped valves' and are capable of reducing the impact on the valve seat and valve stopper. The characteristics of the dynamic behavior of the damped valves were clarified by calculating newly derived governing equations of valve dynamics. From the calculated results, it becomes apparent that the volume of the pneumatic chambers and the clearance between the pneumatic chamber and the valve have a large influence on the impact speed of the valve. Furthermore, the valves tend to close later for a higher compressor speed and to oscillate at a larger amplitude for a lower density of gas such as hydrogen. These tendencies show that the selection of the specification of damped valves is very important. The stiffness of the valves spring and the lift of the valve also affect valve behavior as with valves without pneumatic chambers.

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An analysis is presented for the soundproof characteristics of infinitely long sandwich cylindrical shells subjected to inner axisymmetric acoustic waves. To simplify the shell equations it is assumed that the core material resists only transverse shear forces and that the facings do not resist transverse shear forces. Acoustic waves in the air surrounding the shell is denoted by the Helmholtz equation. Sound transmission loss TL is calculated for various values of the physical parameters of the core and the facings.

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Robots, which are constructed from many elements that are related to various engineering systems including mechanical systems, electronic systems, artificial intelligence and so son, are going to be utilized in various fields. It is necessary to examine overall safety techniques for the establishment of robot safety. First, hazard control principles are systematized base on the accident causation theory "Action-change & Action-chain Models". Secondly, the constitution principles of hazard control systems that are the final line of defense against hazards are generalized and systematized using the theory of hazard control chains, in order that the principles can be applied to the overall fields of engineering. Finally, illustrative examples constituting hazard control systems are demonstrated for some robots, such as a transfer robot, a rescue robot etc., based on the principles.

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The theory for calculating the profile of a tool to be used for finishing gears with an arbitrary given tooth-profile, which was shown in the first and second reports of this investigation, is expanded and new equations are derived to calculate the profile of a grinding wheel to be used for finishing a gear hob. In order to demonstrate the usefulness of the equations, profiles of a grinding wheel for finishing a hob of Novikov gears with concave teeth are calculated numerically. It is clearly shown that the profile of the gear finished by this hob is almost the same as the given tooth profile in the design stage. The errors of tooth profiles of the gear finished by the reground hob are numerically calculated through the changes in the profiles of the basic rack expressed by the reground hob.

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The stiffness of a ball screw is dominated roughly be Heatzian contact between the balls and the guiding grooves. However, the calculated values are always higher compared with experimental values. hence, to derive more exact values, the elastic deformation of the screw shaft, the nut itself and screw thread are taken up in addition to the deformation due to Hertzian contact. The load distribution in a ball screw is also examined. The load distribution changes with the load condition of the screw and the row number of thread turn. However, nonuniformity of the load distribution is not so remarkable. The deformation of a screw thread has a slight influence on the load distribution, but it gives a certain effect on the stiffness. The stiffness obtained here approaches experimental values compared with the values based on Hertzian contact.

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Few investigations have been carried out on the characteristics of bolted joints with a gasket subjected to external bending moments. In this paper, the characteristics of the pipe flange with a full face metallic gasket subjected to external bending moments are examined. In the analysis, the pipe flanges and the gasket are replaced with hollow cylinders. The contact stress distribution, the force ratio for the external bending moment (the relationship between an increment or decrement of the bolt axial force and the external bending moment) and the maximum stress produced in the bolts are analyzed as axi-asymmetrical problems using a three-dimensional theory of elasticity. For verification, experiments are performed with respect to the force ratio for the external bending moment and the maximum stress in the bolt. Analytical results are in fairly good agreement with experimental ones.

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The static characteristic of oil filled porous journal bearings with anisotropic permeability are theoretically investigated. Considering anisotropic permeability, the Reynolds equation for the oil film is modified to include the effect of tangential velocity slip at the interface between the oil film and the porous medium, and the pressure equation for the porous medium is obtained from Darcy's law and the continuity equation. These equations are applied to the system and are numerically solved. This paper analyzes the porous bearings with anisotropic permeability for the case that permeability in one direction is lower than that in the other two directions. It is found that the static characteristics of porous bearings with anisotropic permeability are better than those with isotropic and homogeneous permeability from the following results. (1) Load capacity increases and total side leakage flow decreases. (2) Coefficient of friction decreases in the case of lower permeability in an axial or a radial direction.

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The stiffness and damping coefficients of oil film in porous oil journal bearings with anisotropic permeability, and the vibrational stability of a shaft supported by them are theoretically investigated. Three types of anisotropic permeability are analyzed. Each type has lower permeability in one direction than in the other two directions, i.e., the first, second, and third types have lower permeability in radial, circumferential, and axial directions, respectively. All anisotropic types have larger oil film coefficients, in which the cross-coupled stiffness term K_XY is larger in magnitude, and higher stability threshold speed (onset speed of half-speed whirl) than isotropic types whose permeability is equal to the higher value of the corresponding to anisotropic type. Furthermore, the values for oil film coefficients and stability threshold speed are larger in the order of the second type, the first type and the third type.

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This paper shows that the cross terms of the linear damping coefficients of finite width journal bearings are equal to each other, i. e., C_xy=C_yx, in the case that 1)the problem is governed by the linear Reynolds equation, 2) homogeneous boundary conditions such as p=0 and dp/dn=0 are satisfied, 3)the boundaries of pressures are common, which are generated by the squeeze motion (x^^·) and the whirling motion (φ^^·) of the journal, and 4)the film thickness can be expressed by h=c(1+xcosθ). For this proof, the general approach for solving the Reynolds equation ⁽¹⁾⁽²⁾ is used.

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The static characteristics of oil-filled porous journal bearings with nonuniform permeability are theoretically investigated. In this analysis, three types of nonuniform distribution of permeability are analyzed. For the first typed, the permeability varies in a radial direction, i.e., the permeability of the inside part is lower than that of the outside part. For the second type, the permeability varies in a circumferential direction, i.e., the permeability of part of the bearing ends is lower than that of the middle part. The second nonuniform type has a higher load capacity than the other nonuniform types. Also, this type has a lower coefficient of friction and total side leakage flow than the other nonuniform types and a uniform type whose permeability is equal to the lower one of nonuniform types.

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This paper describes a study on the boundary conditions at the inlet edge of finite width thrust bearings in a turbulent flow regime, including the fluid inertia effects. The integrated governing equations in terms of pressure and stream functions are solved by a numerical technique combining the control volume integration and the Newton-Raphson iteration method. The static characteristics such as pressure distribution, load carrying capacity, center of pressure and inlet flow rate are obtained for three kinds of inlet boundary conditions in accordance with three types of lubrication conditions. Some sample of numerical results are presented in graphic form and the relationships between the boundary conditions and the static characteristics are discussed.

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This paper presents a study on the effect of the surface roughness on the traction characteristics of concave and convex roller pair contacts. The traction coefficient, oil film formation and oil film temperature in the contact between concave and convex roller pairs of various surface roughnesses were measured under different running conditions by using a concave and convex roller testing machine developed by the authors. On the basis of these results. the effects of specific sliding, contact pressure, roller speed and surface roughness on the traction coefficient, oil film formation and oil film temperature were clarified to a considerable extent.

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This paper presents a study on the rotational transmission accuracy in the traction drive of a concave and convex roller pair. The simultaneous measurements of specific sliding, transmitted torque and oil film temperature in the contact between a concave and convex roller pair under different running conditions were carried out by using the concave and convex roller testing machine and measuring system, which had been developed by the authors. The effects of the torque, roller speed and contact pressure on specific sliding, rotational transmission error (variation of specific sliding)( and oil film temperature were investigated.

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A determination method for the redrawing ratios has been proposed by analyzing the redrawing process of cylindrical shells from flat circular blanks using the elementary theory of plasticity. These redrawing ratios were calculated using the criterion based on the reduction of the maximum deep drawing forces. These theoretical results on the variations of the redrawing ratios with the profile radius, the blank thickness, the frictional force, the blankholder load and the strain-hardening exponent are presented using a developed computer program aimed at rationalizing, planning and simulating the redrawing process. It is shown that the maximum deep drawing forces decreased at about 10-40% comparing the predicted drawing force with the usual drawing force. This is based on the experience of many years standing and skilled labor.

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In order to determine the optimum shape and size of a blank for a deep drawing cup with a flat-headed punch, the authors have improved their finite element procedure, having taken account of the effects of the plastic anisotropy of sheet metal. The influence of the plastic anisotropy on the optimum blank shapes for circular, false elliptical and square cups have been analyzed. The predictions were made in terms of the optimum blank shapes ad products with a uniform drawing height around their peripheries. Close agreement is recognized between the theoretical predictions and the experimental results for circular, false elliptical and square hollow shells of annealed aluminum sheet metal which shows plastic anisotropy.

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The application of advanced ceramics as a substitute for classical materials is increasing because of their excellent properties. It is, however, not easy to grind these materials efficiently because they are strong, hard and brittle. In this study, a speed-stroke table system is developed to attain high efficiency grinding of advanced ceramics. Representative advanced ceramics are ground and the efficiency of this table system is discussed in terms of the grinding force, surface roughness, grinding time, and grinding ratio. The depth of the median crack after grinding is estimated on the basis of the indentation theory. The results obtained in this study clearly show a difference in the grinding mechanism between speed-stroke grinding and creep-feed grinding.

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For the purpose of reducing the impact noise radiated from a jolt-type moulding machine, a practical method to realize noise reduction is presented further the effectiveness as well as the efficiency of the proposed method is verified experimentally. First, from the viewpoint of both a noise analysis and a modal analysis of a jolt-type moulding machine, the nois sources of the moulding machine are investigated. Then, by placing a buffering material between a jolting table and a squeezing piston of the moulding machine, a spectrum of the impact force is modified so as not to excite the vibration modes causing the noise radiation. Moreover, the relation between the hardness of the buffering material, the noise reduction level and the efficiency of the moulding machine is clarified. Finally, without losing the efficiency of solidifying sands, a method to reduce the impact noise radiated from the jolt-type moulding machine is shown presented.

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The noise generation mechanism of flat belts on a timing pulley, trapezoidal tooth profile timing belts and circular tooth profile timing belts has been experimentally studied. The results of this study are as follows. (1) The noise generation mechanisms of the three kinds of belts are all the same. The noise is mainly an impact sound due to the collision of the belt and the top land of the pulley tooth at the entry point of the driving pulley. (2) The impact noise is reduced by the interference of either the belt and the pulley tooth flanks or the top land of belt tooth and the bottom land of the pulley tooth groove. (3) The noise level of the trapezoidal tooth profile timing belt is high when the belt pitch, expanded by the tension, is equal to the pulley pitch.

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From the standpoint of human safety, safety must be entrusted to "safety of the safety confirmation type", which is based on three principles; "Principle of safety confirmation of safe work", "Principle of unconditional safety", and "Principle of safety confirmation structure". In this report, the requisite for "Principle of safety confirmation structure" is discussed. The machinery system needs interlocking structure, i. e, the operation of a system is permitted only when a safety confirmation signal is received. In the step of generating safety information, the detector must detect not hazard but safety. In the step of transmitting the safety information, the relation between input and output must be "unate". To satisfy this, "safety" must be denoted by "active state", therefore there may be no negation operation.

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This study proposes a scheduling method to order the jobs in one class classified by the sequence number of the operations in each machine in CIM. This method is formulated using Al language (Prolog). It is assumed that the sequence of operation is different among jobs and that the input order of jobs to the manufacturing system is previously determined. First, the fobs are classified into some classes based on the sequence number of operations in each machine. Other classification criteria can be used in this stage. Secondly, the jobs in one class are ordered with the criterion of the early finishing time in each machine calculated from the work time, the setup time and the handling time, and of the late start time calculated from the due date.

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A network model is developed to support the process of the basic design of engineering systems. The model is built according to the expert CAD system which has been developed and introduced in the previous report by the authors. In the model, design parameters and their relations are represented as the nodes and arrows in a network. The model satisfies handle design parameters flexibly in a computer system using object-oriented knowledge representation : 1) interactive control of design process by the designer. 2) flexible model building and easy modification, 3) assistance in determination of design parameters by the quantitative information on relationships among them. The validity and effectiveness of the model is ascertained by applying it to the expert CAD system for the basic design of a ship. It is also applicable to expert CAD systems for various mechanical systems.

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This paper introduces a method which can evaluate the performance of workers on the lot production quantity by using presumed production tendency equations which are derived from observed data. This method is analytical and uses a kind of ratio method, that is, the results of work are estimated by a work achievement quotient Q (0≤Q≤1) which is a function of the ratio of variation δ, where δ is the dispersion of the data. As an example of the application of this method, the performance of four employees who pickle steel plates in one ironworks is evaluated.

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In order to attain the true integration of CAD and CAM, not only is a smooth flow of information required, but also decision making for both product design and process design must be synthesized. In this paper, an integrated design process is proposed, in which decision making concerning both product design and process design is simultaneously conducted. According to the proposed design procedures, an integrated optimization problem is formulated. This optimization is expressed as a multiobjective optimization problem including many Pareto optimum solution sets corresponding to combinations of materials used for parts. The algorithm for solving the problem is also presented. The proposed method is applied to the design of a cylindrical coordinate robot, and the effectiveness of the method is demonstrated in conducting product design and process design of machines.

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