This paper deals with a design procedure of control system for a three-dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration modes get into problem that may cause spillover instability. So, the research purpose is to control the such vibration and motion of the shaking table by using the reduced order modeling technique and LQ, LQI control theory. The modeling procedure and the control design are described. Control simulations on the discrete model are carried out to demonstrate the effectiveness of the method. Experimental work is shown to demonstrate a final verification.

抄録全体を表示

A nonlinear control scheme for an inverted pendulum system which has a pivot rotating in the vertical plane is proposed. The state equation which includes the parameter of the rotation anegle of the arm in the system and input matrices is derived in order to express the nonlinearity of the system. The nonlinear controller is designed using a gain scheduled method based on a pole-assignment scheme. The effectiveness of the proposed control scheme is experimentally demonstrated and discussed. Then, it is clarified that on unstable phenomenon occur at the particular rotation angle of the arm, and is theoretically discussed by a modal analysis.

抄録全体を表示

In this paper, the residual vibration reduction method of a crane using the optimal trajectory planning is proposed, and the usefulness of the present residual vibration reduction method is confirmed both numerically and experimentally. In the optimal trajectory planning, the velocity profile of the trolley is expressed with two fifth-order polynomials, and it is depicted by two parameters obtained by applying some conditions to the fifth-order polynomials. Then, the traiectory is expressed as a function of the chromosome using the two parameters as the genes of the genetic algorithm, and the optimal trajectory of the trolley is obtained by defining the fitness function for the residual vibrations of the load. Furthermore, the numerical calculations been carried out, and it is confirmed that the residual vibrations can be extremely reduced, and the experimental results agree well with the calculation results.

抄録全体を表示

A new control method for a shaking table-which compensates the reaction force caused by a non-linear specimen in real-time was previously developed. This method estimates the error in the transfer function by using the recursive least-square method, then the error is compensated by an adaptive filter. Verification tests with a large-scale shaking table controlled by this method were carried out in the present work. Even when the characteristics of the specimen change during excitation, the desired pseudo-velocity response spectra of the table acceleration which is three dimensional artificial earthquake wave can be achieved with the adaptive filter. The results of these tests show the effectiveness of this method.

抄録全体を表示

The finite element (FE) equations of motion with fractional differential operator term has been developed by Shimizu and Zhang for analysing the dynamic behavior of viscoelastic structures. In this formulation the authors derived the new "viscoelastic damping matrix (VDM)" which evaluates the damping character for the viscoelastic structures. The present paper investigates the validity of the FE equations with "VDM" by comparing with the results of the experiment conducted for evaluating the viscoelastic seismic damper.

抄録全体を表示

The vortex induced vibration, generating on suspension bridge cables or high voltage lines are the most serious problems. Some authors have reported the effectiveness of both active and passive control methods in order to solve these vibration problems. However, most of them were focused on only the first order mode in-plane transverse vibration, and the high order mode vibration and out-of-plane vibration were not studied sufficiently. In this study, we experimentally examined the control of these out-of-plane and high order mode vibrations, which are induced by vortex. The experimental device was the most simple model consisting of single wire and one cylinder located on the middle part of the wire. For the vibration control of the system, we adopted the bang-bang control method, which nonlinearly varied the tension of the cable based on the Variable Structure System (VSS) theory.We experimentally employed the electrical magnetic actuator which can increase and decrease the tension from the initial value. As a result, we could reduce the now-induced vibration and confirmed the effectiveness of this control procedure. Additionally, the control effect of this method was confirmed by using Iwan model.

抄録全体を表示

Recently, in order to improve thermal efficiency, the thickness of the compressor blade and vane has become thinner. Therefore, for the purpose of increasing reliability, the vane with a friction damper has been used. This paper presents the analysis method to predict damping characteristics of the compressor vane with a friction damper by applying the substructure synthesis method and the harmonic balance method. The excitation test of the damper vane is carried out to verify the validity of the analysis method proposed here. ln the excitation test, the newly developed magnetic exciter, which applies the feature of the resonant circuit, is used to experiment the vane with a large excitation force. Numerical results show good agreement with the experimental data and the damping characteristics of the damper vane is clarified.

抄録全体を表示

In this paper, we propose a method to improve accuracy of equivalent system of a nonlinear system with time delay by an estimate which is based on the synchronization error. lt is known that it is difficult to investigate this system by analytical methods, because this system is described by a difference-differential equation which is usually difficult to solve. We regard this system as an original system, and an assumed system without time delay as an equivalent system. To analyze the original system, we have already introduced an averaging method for the functional differential equation. Applying this averaging method, we construct the equivalent system. And an coefficient of this system is determined that behavior of the averaged system of the equivalent system coincide with that of the original system. We compare the equivalent system with the original system by the estimate which is based on the synchronization error. In order to improve the accuracy, we modify system parameters of the equivalent system so that the synchronization error is minimized. The result shows that behavior of the modified equivalent system remarkably is in good agreement with behavior of the original system.

抄録全体を表示

For precision control of mechanical systems moving at low velocity, stick-slip behavior should be considered. lt is known that the behavior is caused by negative viscosity of nonlinear friction. In this paper, we consider a control of a typical two mass-spring system with nonlinear friction. In the system, a driver and a load is connected by a spring, and the nonlinear friction acts the load. In order to compensate the nonlinear friction, the exact linearization method of nonlinear systems is applied to the two mass-spring system. Since the frictional properties are unknown, they are estimated by a disturbance observer and the recursive least squares method. Experimental results show the effectiveness of the proposed controller. ln the experiments, the friction is directly measured. The measurement results also show the validity of the proposed friction estimation method.

抄録全体を表示

Generally, a wavelet transform with the analyzing wavelet described by a function, has been applied to time-frequency analyses of experimental data. In this study, measured signal is adopted to analyzing wavelet instead. Applying the proposed system, the correlation between acoustic and vibration signals from a wall and a floor in a mess hall, which is adjacent to an engine room of the training ship, is analyzed. As the traditional calculation of correlation repeats averaging procedure, the original signal must be stationary. To apply the method to time-varying signals, a new concept of instantaneous correlation factor, ICF, is introduced. As a conclusion, it is proved that a dominant feature of the correlation can be estimated by the ICF. The time-varying correlation could be analyzed and the starting point of main engine deceleration can be detected accurately.

抄録全体を表示

Some kind of machine faults such as unbalance, misalignment, looseness, and eccentricity occupy the most part of the category of fault of structure. It is important to diagnose these faults accurately to prevent the recurrence of the same fault. The unbalance includes static unbalance, couple unbalance, quasi-static unbalance and dynamic unbalance. The misalignment includes parallel misalignment and angular misalignment. In any fault of structure, vibrations both perpendicular and parallel to the rotation shaft occur, and the diredional characteristics of vibration change with the type of machine fault. If we measure vibrations in three directions by a conventional unidirectional type of vibrometer, the measured data does not include enough information for diagnosis. It is extremely difficult to diagnose the fault of structure accurately only by this information. lt is necessary to observe and analyze the movement of measured point in order to diagnose the fault and search its causes by using three directional information processing technology that measures orthogonal three directional vibrations simultaneously and uses the phase information among them. To realize it, the analysis technique of vibration information in 3-dimensional space is necessary. In this paper, we describe a new hand-held type triaxial vibrometer and its pickup. The operation principle is quite different from conventional triaxial pickups. A detailed operation principle of the new pickup is reported. Finally we propose new display method and data processing technique of vibration in 3-dimensional space.

抄録全体を表示

This paper is examined the new method to define the occurrence condition in the clutch judder. Vehicle sensitivity in regard to clutch judder is determined by examining the stability of the whole system including the negative-damping-effect of μ-V characteristic. The stability zone for the clutch judder vibration is defined in the maps for each parameter with these analyses. And the mechanisms of the clutch judder are studied from the maps. The occurrence condition is shrunk by the engine mounting, while the negative gradient of μ-V characteristics is acting as negative damping to the system. The optimum condition to reduce the clutch judder is that the engine roll resonance is set equal to the torsional resonance of power train. And it is reviewed the appropriateness by the frequency-response, that the clutch vibration level is minimized on the optimum condition for the clutch judder.

抄録全体を表示

In high-speed mechanical transfer systems, inappropriate command inputs can generate the vibration of plant, and make the control performance worse. It is therefore important to study command inputs, namely feedforward control, in order to almost eliminate the residual vibration. In this paper, an optimal robust feedforward control input is proposed against the perturbation of resonant frequency concerning the single-desree-of-freedom system. Proposed robust control input is represented by higher-power series of time than that of the analytical solution designed for nominal model. The control input function is solved by satisfying the boundary condition at the initial time and the final time, and by minimizing the performance index. Performance index given in this paper evaluates the square of amplitude of the residual vibration in a phase plane, and it is corresponded to total energy of all the range of the perturbation of resonant frequency. The usefulness of robust feedforward control proposed in this paper is demonstrated by experiments of an overhead traveling crane system with perturbations of the rope length.

抄録全体を表示

This paper presents a new practical automatic PID tuning method considering motor maximum input and power consumption for servo control systems.The PID gains for a basic one-mass-rigid system may be adjusted by a skillful operator and resultant closed loop characteristics are evaluated beforehand. When the load conditions are changed, system identification is carried out and an automatic tuning of the PID gains and a computation of the motion time are executed such that the maximum input is kept in the permissible range and the motor consumption is kept nearly constant. lf the loaded system is modeled as a two-mass-resonant system, a state observer is constructed and load side position and velocity feedback gains are set to the neighborhood of the zero points generated by PID compensator. The simulation and experiments for a positioning system with AC servo motor are presented to show the effectiveness of the proposed method.

抄録全体を表示

Servo control is one of the most important control techniques for motion control of mechanical structures. In order to suppress the stationary error between a reference trajectory and a servo system response, servo controllers often include the integral characteristic. For example, LQI (Linear Quadratic Integral) optimal control is one of the standard selections for designing servo control systems. Nonstationary optimal regulator (NOR) is another motion control method which produces superior vibrationless trajectories for the positioning control problems of vibration systems. This study discusses a unified design method of the time-varying gain type access control similar to NOR and the integral type servo control similar to LQI control by means of a frequency-shaped time-varying criterion function. This method realizes two high performance control modes and the smooth switching of the modes by the optimization of the single criterion function. The effectiveness of this method is verified by numerical calculations and experiments.

抄録全体を表示

In this paper, we study the quadratic guaranteed cost estimator for singularly perturbed systems with uncertainties. The state estimation results by Petersen and McFarlane are applied to the singularly perturbed systems which depend on the uncertain parameters. First, we derive the sufficient condition corresponding to the perturbation parameter such that the proposed algorithm is quadratic convergence. Second, we propose the new algorithm for solving the generalized algebraic Lyapunov equation of singularly perturbed system. A numerical example is given to show the potential of the proposed technique.

抄録全体を表示

This study aims at establishing a robust intelligent control method with higher control performance and wider application region. In particular, this study deals with a nonlinear and failureproof control problem. In this study, the dynamical energy principle is embedded into the integrator of Cubic Neural Network (CNN) that consists of multilevel parallel processing on different degrees of abstraction. The proposed CNN is applied to a control problem of a swung up and inverted pendulum. In order to confirm the effectiveness of the integrated CNN controllers, we carried out simulations and experiments with parameter variation and sensor failure. As a result of simulation and experiment, it was demonstrated that the integrated CNN controllers can stand up the pendulum taking into account the cart position limit at abnormal situations. Then, the robustness and the faulttolerance of the proposed CNN controllers is confirmed by comparing sliding mode control techniques.

抄録全体を表示

PID control has been mainly used over the past years among various kinds of modern processes, however, the advanced control for most recent industrial processes is playing a more important role that leads to resource saving, energy conservation, and upgrading. 0n the other hand, most personnel operating or maintaining machines are unaccustomed to deal the advanced control because of its complexity. For that reason, we propose the simple design method of the sliding-mode control (SMC) for such processes with time delay. The proposed method is the sliding-mode control using a disturbance observer with compensation for the "pade-approximation error" that does not satisfy the matching condition. Moreover, we propose the optimal pole assignment algorithm of the observer. The advantages of the proposed method are 1) good transient characteristics, 2) reduction of chattering, 3) high robust performance, and 4) simplicity in designing. Simulation and experimental results illustrate the effectiveness of the proposed method with applying to the cooling plate for semiconductor manufacturing.

抄録全体を表示

This paper presents a design method of perfect tracking control, for discrete-time systems based on multi-rate control. Generally, perfect tracking control schemes cannot be applied to nonminimum phase plants because of unstable pole-zero cancellations. Some methods that are applicable to nonminimum phase plants have been proposed, however, the following problems are left unsolved : limitations to plants and unclearness of design freedoms. We propose to use multi-rate control systems and state feedback schemes for perfect tracking. Since the method has been stated in 2-degree of freedom control techniques in this paper, it is clear how the design freedoms will be reserved after the design of tracking control. Basic techniques of this scheme have been presented, however, they cannot be applied to nonminimum phase discrete-time systems. We propose techniques that are applicable to nonminimum phase discrete-time systems. Finally, computer simulation results are presented.

抄録全体を表示

In this paper, we propose a state space design method of delayed inverse systems. First, a state space design method of delayed inverse systems for minimum phase systems is presented. For the non-minimum phase systems, the delayed inverse systems are unstable. Second, the stable delayed inverse system is defined so as to design the delayed inverse systems for the non-minimum phase systems such that the delayed inverse system is stable. Finally, a state space design method of the stable delayed inverse systems is proposed.

抄録全体を表示

Human interfaces are a necessary technology in this information-oriented society, and comfortable operation for the user is desired. It is thought that line-of-sight (LOS) detection technology will allow significant advances in this field. In this study, we developed a non-contact LOS detection method using the ellipse fitted to the iris edge. This method does not require the user to wear markers or other devices, and requires less equipment than other systems. Using image processing, the feature points of face and the ellipse fitted to the iris edge are extracted. The detected data of the feature points are transformed into the LOS. Evaluative experiments were conducted using a dummy head and a plastic model of an eye, and with human subjects. We obtained the degree of precision needed for practical application, and demonstrated the workability of our LOS detection algorithm.

抄録全体を表示

In the progress of semiconductor technology, the diameters of Si substrates are increasing and the flatness accuracy is being raised. However, the evaluation method has not been accomolished. The sequential-two-points method, which was originally developed to evaluate straightness error motion of the tool as well as error profile of machined parts in machine tool, is applied to evaluate surface form of the flatness on the substrates. Forms along diameters and periphery are measured as a step to construct form of flatness on polar coordinate. Resolution of the capacitor type sensors are calibrated with order of nm, so that the measurable accuracy, of the method is assured and the straightness error from of 0.3 μm along diameter have been obtained, on the other hand which can be easily deformed by boundary conditions of support.

抄録全体を表示

This paper proposes a new strategy for teleoperation under communication time delay, which makes it possible for an operator to know condition of a remote manipulator through force reflection of the time delay. Using the proposed strategy, an operator feels as if the manipulator is operated through a virtual spring. Basic algorithm is that difference of command and telemetry due to communication time delay is displayed to an operator by force reflection through a hand controller. Also, force reflection includes contact force applied to the manipulator. In operation without contact, force reflection becomes to be zero when the manipulator finishes its motion. Under condition of contact, force reflection continues to be applied even if the manipulator stops its motion. Also, change of the force reflection suggests occurrence of contact, force release of the manipulator, and manipulator moving. The effectiveness of the proposed approach was confirmed by teleoperation experiment.

抄録全体を表示

To realize a practical micromachine using fluid power with high power density, a novel microvalve (MLV (Magnetizable Liquid Valve-body) valve) using MR (magneto-rheological) fluid as a valve-body is proposed and investigated. Column of MR fluid is supported as a valve-body by a permanent magnet and is deformed by an electromagnet to control the opening. The proposed MLV valve solves leakage problem caused by the large machining errors compared with its small size. A MLV valve is fabricated with 10×10×7 mm³ in size and the magnetic control and the flow control characteristics are experimentally investigated. Next, to expand the pressure control range, the magnetic poles are fabricated with different shapes and the suitable shape is selected based on the deformation of the MR fluid valve-body due to the applied current. Also, the effect of dither is investigated to decrease the hystereses. Then, the static and dynamic characteristics of the flow control of the improved MLV valve are experimentally investigated. As a result, flow rate control range of 30 mm³/s is realized with supply pressure of 35 kPa.

抄録全体を表示

A new type engine valve control system has been presented, in which both valve lift and phase are controlled directly by electric motors. A mechanism of the phase control system is made of planetary gears. The outer gear is the timing pulley which has timing belt driven by the crank of an engine. Two planetary gears are inside of the pulley. The gears engage in inner gear of the pulley. The center of the disc which has centers of the planetary gear is connected to the camshaft. Then, the crank rotation is transmitted to the cam shaft, and rotation of sun gear is added to the rotation of cam shaft. This means that when rotation angle of the sun gear is controlled, phase of the cam can be controlled. The lift control system is made of linear slider and ball screw. The cam shape of this system is three-dimensional. The height of the cam varies along the axis of the shaft. Hence, when the ball screw rotates, the cam shaft slides in the axial direction, so that the lift of the cam varies. Experimental tests have been carried out for the system. lt is ascertained that both cam lift and phase can be controlled continuously.

抄録全体を表示

As environmental problems become more serious, research on the HEV(Hybrid Electric Vehicle) has become more extensively pursued by researchers in several countries. The main structure of the HEV at present is a parallel HEV. In this system, wheels of the vehicle are driven by the complex power of the motor and engine. Therefore, it is necessary to develop a complex control algorithm that appropriately distributes the torque of the combustion engine and the electric motor. In current HEVs, decomposition rate of the total torque for HEV to an engine torque and a motor torque is determined based on some simple parameters such as the state of charge or the vehicle's present speed, and so on. However, because the load pattern varies widely according to the vehicle's driving environment, the present HEV continues to show a low efficiency. Thus, the purpose of this study is development of the algorithm for power distribution to the engine and motor which is the most suitable in regard to change of load pattern for the sake of fuel economy and emission control.In this paper, first, in order to determine the optimum values in regard to fuel control, parameter analysis have been done. Secondly, an adaptive control system which will be able to adopt the power of engine and motor suitably to changes in the driving environment has been proposed. Finally, the effectiveness of the proposed control regarding the improvement of both fuel economy and emission have been confirmed through simulation analysis using Advisor-software.

抄録全体を表示

An electric vehicle is focused attention as a solution for solving the global environment issues. And if electric vehicle has exceeding performance than internal combustion engine vehicle and surpassed attractiveness, it will be accepted in the society widely. Tandem Wheel Suspension System (TWS) is a new suspension concept for electric vehicle that makes a great progress in space utility, handling ability and ride comfort. A general concept of TWS is replacing the 4 larger sized wheels with 8 smaller wheels. The four couples of adjoined two wheels are connected with the hydraulic piping and hydro-pneumatic spring shock absorber units. The results of simulations reveal that ride comfort of TWS should be improved 3.6 times compared with 4 wheels reducing the body vibrations and body pitching.

抄録全体を表示

In coping with the trend toward the much higher powered electric-motor driven injection molding machine, multi-AC servomotors control system have become necessary in order to control the molding machine mechanism. Thus, it is inevitable to use the synchronous position control technology not to cause the excessive mechanical stress in the molding machine body. Accordingly, it is much necessary to have a load simulator of the molding machine to study the control technology. This paper clarifies the similarity law between the actual molding machine and the simulator so that we are able to anticipate the control performance at the actual machine from that at the simulator and to get the control gain parameters at the actual machine from that at the simulator to realize the same control performance as the simulator.

抄録全体を表示

Numerical computation of silica glass deformation in optical fiber drawing from preform has been carried out to reveal thermal and dynamic characteristics of the process. This report presents numerical procedure of the calculation and results of two cases. One case is that continuity and momentum equation are solved one-dimensionally in drawing direction and energy equation is solved axi-symmetrically, and the other case is that these three equations are solved one-dimensionally. As a result, two things are implicated. 0ne thing is that one-dimensional calculation, as the later case, would be enough to compare neck-down profile and drawing tension from practical viewpoint, because the discrepancy of them in these two cases is not so large. Another thing is that inertia force, surface tension and viscous dissipation are not essential in the process, because they have little effect on drawing tension.

抄録全体を表示

The purpose of this study is to investigate the effect of misalignment on traction coefficient in case of crossed axle type traction drive. The measurements of traction force were performed using small size experimental apparatus (average roller diameter is 50 mm, rotational speed of driving roller is 90 rpm). And the comparison of experimental results with calculations of the two dimensional thermal non-Newtonian elasto-hydrodynamic lubrication was performed. Following conclusions were obtained (1) Maximum traction coefficient in this test is 0.1∼0.13. There is no difference between the traction drives and conventional parallel type traction drives. (2) Traction coefficient becomes large by increase of either contact force or misalignment.(3)The measured results are compared to the calculation and it is confirmed that the calculation method is practical and useful.

抄録全体を表示

This paper proposes an optimal approach of cam curves to control the residual vibration with indexing cam mechanisms. The cam curve is described with a uniform B-spline and then the values of B-spine control points are optimized through minimizing the performance value of index function. A practical dynamic model of indexing cam mechanism, which has been experimentally identified in reference (10), is accepted in the approach. The index function combines one strict limitation with other two non-strict restrictions so that no residual vibrations happen with the obtained cam curves after the end of indexing motion, and both the maximum acceleration and transient vibration of the follower output within the indexing action are kept in a lower level. Through some performance comparisons, it is sufficiently illustrated that the obtained cam curves are superior in respects to those applied in engineering practices. The algorithm in simple and the programming is easy together with enough calculation efficiency for engineering applications.

抄録全体を表示

A DBB (Double-Ball-Bar) based kinematic calibration method for in-parallel actuated mechanisms using Fourier series has been presented. Based on the method, kinematic calibration has been experimentally carried out applying the method to an experimental in-parallel actuated mechanism with six degrees of freedom. Convergence characteristics of iterative calculation in the calibration and calibration accuracy have been experimentally investigated relating the evaluation index for the selection of the set of the measurement paths used in the calibration. The results are shown to support the proposed method.

抄録全体を表示

A rotor housing of a Wankel engine has a peri-trochoidal form that is machined by internal grinder, which is operated upon generating mechanism. This mechanism is elastically deformed by inertia force, torque and grinding force that are caused in grinding process. Therefore, some gaps arise in positional relation between a workpiece and a grinding wheel. Besides, grinding parameters, such as radius of curvature, work speed, the contact length and interference anele at the grinding point, vary considerably while the workpiece rotates in a revolution. In this case, it is necessary to estimate the accuracy of ground form and grinding power to design and to manufacture a form generating mechanism or to grind the trochoidal form. The authors show how to estimate the accuracy of ground form and grinding power by the grinding process simulation. Some results are presented in graphs and tables. Good agreement is found between analytical results and measured values.

抄録全体を表示

Nowadays many kinds of composite material are used in industrial fields because of their advantages in mechanical properties. Carbon fiber reinforced plastic (CFRP) is one of the composite materials and it has started to be applied for various mechanical structures and components, where high rigidity with light in weight is required. However, it is difficult to machine CFRP with high efficiency. The main difficulties are poor machined surface quality and short tool life. In order to cope with these problems, it is proposed in this study to apply ultrasonic vibration in cutting. The performance of vibration cutting was evaluated in terms of cutting force, burr formation, surface roughness, and tool life. It has been made clear that the effect of ultrasonic vibration depends on the relationship between the cutting distance during one period of the tool vibration and the diameter of the fibers. Through cutting with ultrasonic vibration, better surface quality can be achieved and the tool life can be extended.

抄録全体を表示

An automated design of bending process had been carried out by using a genetic algorithm, where a gene in an edge to be bent and a chromosome in an order of gene. It was considered as a kind of TSP and solved inversely in order to detect a interference easily. GA have been used successfully to solve continuous functional optimization problems, in which crossover operation typically involves only exchanging randomly selected gene of chromosome between two parents to create two children genotypes. However, these genetic operators are not suitable for routing type problems, because an optimal ordering of a list of objects must be found in order to solve the problem. Furthermore, often the selection of operations requires a deep insight into the nature of the specific problem and operations are not portable to real-problems in themselves. In this reports, seven kinds of crossovers were discussed and tested in automated designs of bending process.

抄録全体を表示

A mathematical model was formulated on the basis of the results of psychophysical experiments in which human subjects discriminated fine steps on aluminum plates. The mathematical model emulated the real neuron discharge caused when a membrane potential exceeds a threshold. The membrane potential was determined by spatial and temporal summations of postsynaptic potential. To evaluate the mathematical model for surface texture recognition by robots, we performed a series of surface detection experiments using a robotic manipulator equipped with an optical three-axis tactile sensor. The single sensor cell of this sensor consisted of a columnar feeler and a 2-by-2 array of conical feelers. The three-axis force was calculated from the area-sum and area-difference of the conical feelers' contact areas. The robotic manipulator rubbed the tactile sensor on four brass plates with step-heights of 0, 0.05, 0.1 and 0.2 mm. It was found that the mathematical model could distinguish these step-heights.

抄録全体を表示

This research pays attention to "Get and Place Activities" that compose labor intensive work. The PTS method which defines the standard value of motion time does not consider the arm used. What this research proposes is to pursue the factors for planning the optimum work system which can improve productivity, and to clarify the motion characteristic differences between the right and left hand used. The research method is to observe and measure the movement characteristics of a typical standing worker doing "Get and Place Activities". The evaluation indexes used in this experiment include the measured motion locus, motion velocity, motion time and mvoelectric potential. The results have shown (1) the existence of reasonable motion direction according to the arm used, and (2) a proposed experimental formula expressing the relationship between the motion time and motion direction by the right arm, and the optimum angle to obtain the reasonable motion direction.

抄録全体を表示

This paper deals with a real time scheduling system of a holonic manufacturing system for machining process. The holonic manufacturing system was proposed by HMS cooperative research project aiming at realizing more flexible and robust control structures of the manufacturing systems which can cope with the changes of the product volume and variety and the unscheduled disruptions, such as status changes of equipment and input of high priority jobs. Decision-making procedures of individual holons are discussed in the paper to establish a real time scheduling of the holonic manufacturing systems. Systematic procedures are proposed for coordination process among holons based on effectiveness values of the individual holons. The effectiveness values are evaluated by the individual holons referring to their own objective functions.

抄録全体を表示