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石田 幸男, 井上 剛志, 垣谷 昌基
2003 年 69 巻 683 号 p.
1741-1748
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
When the electric power for an active magnetic bearing (AMB) is shut down during the operation, the backup bearing plays important role to stop the rotor system in safety. In this paper, we study vibration characteristics of the AMB-backup bearing-rotor system in the case that some accident happens in the AMB system. We propose mathematical model for the contact phenomena between the rotor and the backup bearing. By comparing the results of numerical simulation and experiment, we clarify that the proposed model is useful to evaluate the friction force and other forces during contact. We also investigate vibration characteristics of the rotor systems in various cases of AMB accidents theoretically and experimentally.
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朴 正圭, 深田 和範, 松久 寛
2003 年 69 巻 683 号 p.
1749-1755
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper investigates the effect of cable vibration on the design of dynamic vibration absorbers for ropeway carriers which are suspended by cables. ln this analysis the ropeway carrier and cable were modeled with a lumped parameter method and an analytical Green's function was used to obtain the stiffness matrix of the cable system. The natural frequencies and mode shapes of the pendulum with cable system were determined in order to find a single equivalent pendulum by matching the kinetic energy of the two models. Using the equivalent pendulum, an optimum dynamic vibration absorber for the cable suspension carrier was designed. Experiments for the free vibration of the system were conducted to verify the modeling results and demonstrate the usefulness of this work.
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半坂 征則, 林 巖, 岩附 信行, 御船 直人, 森川 広一, 香川 美仁
2003 年 69 巻 683 号 p.
1756-1763
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
To improve vibration damping properties and workability of installation onto steel vibrating objects such as railway steel bridges, the authors have developed a magnetic rubber damper with a constraining layer (MRDC), which consists of a constraining layer made of steel and a magnetic rubber layer. The damping property of MRDC is apparently different from the conventional adhesive dampers because the magnetic rubber layer of MRDC slips relatively on the vibrating base layer. In the previous papers, the damping properties of a beam or plate covered with a sheet of MRDC were theoretically analyzed based on the theory of flexural vibration of a beam or plate taking the relative slip motion into account and the equations to calculate the loss factor of the beam or plate with MRDC were derived. In this paper, the damping property of MRDC installed onto the web plates of railway steel bridge is discussed. An equation to calculate the decrease of vibration of the web plates of bridge due to the installation of MRDC is derived based on the proposed theory of flexural vibration of plate and those calculated results have been compared with the date measured at a through plate girder type of railway steel bridge.
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高柳 政明, 横張 孝志, 下出 新一, 山田 雅之, 原田 一郎
2003 年 69 巻 683 号 p.
1764-1768
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
A method to analyze internal or external noise of building, including structure-borne sound, is proposed based on statistical energy analysis (SEA). In particular, an analysis model for simulating a nonreflecting boundary condition in air is discussed. The theory of viscous boundary model of semi-infinite soil in seismic analysis was used for this method. Longitudinal waves in air are absorbed by dash-pots which are located at a boundary. The viscous coefficient of a dash-pot is correlated with the internal loss factor η of the SEA subsystem. The relationship between η and the absorption constant α of the SEA element for simulating a nonreflecting boundary condition was examined, and an equation between η and α was derived, which differs slightly from Lyon's equation. A new η-α equation is applied to the absorbing SEA element at a nonreflecting boundary.
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新井 正彰, 谷口 克彦, 澤田 孚
2003 年 69 巻 683 号 p.
1769-1775
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper presents experimental studies on unstable vibrations of an axisymmetric body in a cavitating narrow annular passage. The self-excited vibrations caused by the cavitation occurred when the value of nondimensional pressure loss at the annular passage was about 0.16. This value corresponded to the similarity for the occurrence of unstable vibration because the value is determined by the annular gap, length of the leakage passage and Reynolds number. The leakage flow patterns containing the cavitation were observed in detail by changing the downstream pressure and the length of the leakage passaee. It was found that the self-excited vibrations occurred when the cavitation bubbles collapsed at close the outlet rather than the center of the passage. The vibrations of an axisymmetric body were stable when the cavitation bubbles disappeared in the vicinity of the inlet.
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Olga EGOROVA, 篠田 淳一, 曲 昊直, 萩原 一郎
2003 年 69 巻 683 号 p.
1776-1783
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
Recently the dual cycle elimination method was proposed by Muller-Hannemann for hexahedral mesh generation. This method starts with a surface quadrilateral mesh whose dual cycles have no self-intersections and, after the elimination of dual cycles, generates a hexahedral mesh while tracing back the reverse order of eliminations and supplementing hexahedrons inside the object step by step. This paper concerns with the automatic quadrilateral mesh generation system for the dual-cycle elimination method. We shall propose a simple method to construct such a surface mesh for a given polyhedron and nodes on its edges. Some kinds of templates play an important role on our method.
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片山 寛子, 三澤 正吉
2003 年 69 巻 683 号 p.
1784-1790
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The purpose of this paper is to predict accurate frequencies of structures in component mode synthesis. The current methods cannot necessarily provide accurate frequencies of structures because boundary modes obtained by using the Guyan reduction are not accurate. A method to find accurate boundary modes using dynamic reduction is proposed for improving frequency prediction accuracy. A dynamic transformation, obtained from the vibration equation of motion, gives the coordinate transformation that leads to the reduced equation of motion for the boundary coordinates. Boundary frequencies and their normal modes are found from this equation. We revise these solutions using new transformations at the calculated boundary frequencies to reduce truncation error. Truncation error is assessed by a frequency error obtained from the revised solution. A numerical example is given to show that the proposed method is effective for predicting accurate boundary modes.
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矢鍋 重夫, 細川 勇平, 前田 貴之, 横山 才二
2003 年 69 巻 683 号 p.
1791-1797
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
Both feed and separation process of a separation roller type feed system in printers are simulated by FEM software MARC. The feed system is composed of a feed roller rotating at a constant velocity and a separation roller with reverse torque. In the simulation, a modified Coulomb friction modeos used, where the friction force is a function of slipping velocity as well as vertical load and coefficient of friction. The results show that the feed and separation processes are successfully simulated. The paper feed velocity decreases and separation of two papers increase as the reverse torque becomes larger. The friction forces acting between two papers and rollers are almost the same in magnitude and equal the value obtained by dividing the reverse torque by the separation roller radius. The simple equations predicting the paper velocities are presented.
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黎 子椰, 川村 貞夫
2003 年 69 巻 683 号 p.
1798-1804
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This study aims at clarifying the effects of internal force on the structural rotational stiffness of antagonized wire drive mechanism. First, we use the wire drive model to analyze the structural stiffness due to internal force, and measure the structural stiffness as a function of the internal force. Through numerical calculation and experiment results, it is revealed that the tensile internal forces can effectively change the structural rotational stiffness of the antagonized wire drive mechanism. Moreover, it is clarified that the structural stiffness due to internal force is strongly affected by the mechanical parameters such as the length of arm and the position of actuators. Next, the effective ways to generate structural stiffness of antagonized wire drive mechanism by using internal force are proposed in this paper.
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三矢 保永, 川本 泰弘, 張 賀東, 福澤 健二
2003 年 69 巻 683 号 p.
1805-1812
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
A novel method using the Michelson laser interferometry was developed for measuring the head-disk spacing in a hard disk drive. This method utilizes the phase comparison of two kinds of interference fringe patterns formed respectively over the inner surface of a glass disk and the air bearing surface of a slider through the glass disk. To increase the accuracy in identifying fringe parameters, the fringe pattern was equivalently magnified by only one set of the fringes was selected to be formed on CCD, and the fringe interval was determined from the displacement of a high precision piezo actuator attached to the reference mirror. In this method, a phase shift generated by light reflection on the slider surface incurring multiple interference effects must be compensated. For this purpose, first the phase shift was evaluated by considering the multiple beam interferences over a stratified medium inclusive of the glass disk, the lubricating air film, the DLC protective layer, the silicon under layer and the substrate. Then, the shift was subtracted from the optical spacing to obtain the mechanical spacing. Finally, the repeatedly measured mechanical spacings were compared with the theoretically calculated spacings, showing a good accordance between them and a good reproducibility of less than a standard deviation of 1 nm.
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赤坂 則之, 山本 眞生
2003 年 69 巻 683 号 p.
1813-1820
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
High-accuracy fixed position keeping has come to be demanded with ships having special duties such as cable laying ships, ocean research ships and bridge construction ships for improving the accuracy and efficiency of works on ships. This paper presents a design method of position keeping control system used by the optimal regulator theory. Its practicality has been verified by field tests in a cable laying ship, which consisted of 3 kinds of tests, that is, a midship position keeping control, a bow-position keeping control and a stern-position keeping control while changing a set of heading by using a propeller, a bow thruster and a stern thruster.
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山口 功, 葛西 時雄, 小島 寧, 河内 宏道, 谷脇 滋宗, 棚町 健彦
2003 年 69 巻 683 号 p.
1821-1828
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper studies on-orbit system identification for ADEOS-II, which will be launched in 2002 by an H-II A launch vehicle. The proposed algorithm realizes a state-space model of spacecraft dynamics as the multi-input and multi-output system by the singular value decomposition of the attitude telemetry data under constant external torque. Identification results of numerical Simulations using ADEOS-II yaw maneuver data for ΔV orbit change show the validity of the method.
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葛西 時雄, 山口 功, 小島 寧, 河内 宏道, 谷脇 滋宗, 棚町 健彦
2003 年 69 巻 683 号 p.
1829-1836
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper presents a preliminary study of on-orbit system identification for the Advanced Earth Observing Satellite-II (ADEOS-II), which will be launched by an H-IIA launch vehicle in 2002. The proposed algorithm identifies a multi-input multi-output system as a superposition of normal modes. Numerical simulations demonstrate the validity of the proposed method and the feasibility of the on-orbit system identification using data obtained during the events in the initial check-out phase such as the reaction-wheel unloading with 1 N thrusters and the orbit change with 20 N thrusters.
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坂野 進, 高木 博基, 有田 貴博
2003 年 69 巻 683 号 p.
1837-1842
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
Handwriting has continued to persist as a means of communication and recording information every day. This paper describes a new discrimination of handwriting signatures with a new ball-point pen-based device. The piezoelectric element is constructed in the ball-point pen and the phase shift circuit is used for the measurement of the writing pressure. The time series data of the writing pressure is changed to the frequency spectrum using Maximum Entropy Method (MEM). MT (Mahalanobis-Taguchi) method is applied to the frequency spectrums of the handwriting signatures for the discrimination between the true signatures and the false signatures. The experimental results show the possibility of the discrimination of the signatures.
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三谷 篤史, 秋下 貞夫
2003 年 69 巻 683 号 p.
1843-1850
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper describes speed/force control of a plane-type parallel link mechanism with redundant degree of freedom (DOF). Parallel mechanisms have problems of singular points and joint clearances. Motion transmissibility of parallel mechanisms decreases at singular points in working space, which make it difficult to realize stable control. Joint clearances cause to reduce stiffness of the mechanism, and errors of control accuracy when external forces are applied. We propose utilization of internal force in order to overcome these problems. We apply the proposed method to plane-type parallel link mechanism composed of a couple of 2-DOF link with a rotary actuator and a linear actuator. The internal force can reduce errors caused by joint clearance and improve the stiffness of mechanism. This paper proves the effectiveness of the proposed method by experiments of the speed control under sudden load and of speed/force hybrid control.
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石井 千春, 橋本 洋志
2003 年 69 巻 683 号 p.
1851-1857
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper proposes a design method of a robust control system for electrically-driven master-slave manipulator systems taking actuator dynamics and uncertainty of objects and operator into consideration. Based on the backstepping technique, conventional control law for the master-slave manipulator systems is extended so as to satisfy passivity of the whole systems including actuator dynamics in the presence of uncertainty for the object and the operator under some assumptions. The proposed control scheme showed superior maneuverability compared with the conventional control scheme through the experimental works.
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中村 明生, 太田 順, 新井 民夫, 金子 慎一郎
2003 年 69 巻 683 号 p.
1858-1865
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
In this paper, we propose an environment recognition method for operation of multiple mobile robots. Until now, we have been developing a system for multiple mobile robot operation by a single human user. In order that the user operates multiple robots appropriately, he/she must know information of an environment around the robots. Hence we build a virtual environment and show it to the user. To build the virtual environment, we must solve two problems ; one is an object recognition problem and the other is a robot-positioning problem. Concerning the former issue, the two robots that equip a monocular camera on each acquire a 3-dimensional position of a point in an environment with a stereo vision method. As for the latter issue, we set markers on the robots by which the robots can measure their relative positions. In each phase mentioned above, the human user gives commands to the robots appropriately. Solving the above problems, we can make a virtual environment in the computer. The virtual environment displays remote site information to the user. We verified effectiveness of the proposed method by experiments.
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杉本 浩一
2003 年 69 巻 683 号 p.
1866-1871
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The conditions are derived for a kinematic, static and dynamic analysis of a multi-loop mechanism, beginning from one of its loops, tracing a loop sequentially and reaching the last one. The irreducible kinematic chain is defined. It is shown in the paper that a kinematic chain can be analyzed sequentially when it does not reach an irreducible sub-chain during the procedure. The method to utilize passive joint axes in a loop as the basis for its motion space and its dual basis for wrenches are introduces. Determination of these two bases makes a procedure of the analysis simple and gives a concise formula expression for the analysis.
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三輪 洋靖, 〓信 英明, 高西 淳夫
2003 年 69 巻 683 号 p.
1872-1878
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The authors developed the auditory, tactile and olfactory sensation for a human-like head robot WE-3RV (Waseda Eye N0.3 Refined V. We used 2-layerd FSRs (Force Sensing Resistors) for tactile sensation, and WE-3 RV can recognize the difference in touching behaviors such as push, hit and stroke. For olfactory sensation, we used four semiconductor gas sensors. WE-3RV could quickly recognize the smells of alcohol, ammonia and cigarette smoke.
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西川 員史, 林 宏樹, 〓信 英明, 持田 岳美, 誉田 雅彰, 高西 淳夫
2003 年 69 巻 683 号 p.
1879-1884
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The purpose of this research is to clarify a human vocal mechanism from the engineering viewpoints by reproducing a human vocal movement with an anthropomorphic talking robot. The authors developed a new talking robot WT-2 (Waseda Talker-No.2) that improved on WT-1R for the production of human voices. WT-2 has the lung, vocal cords, vocal cavity and nasal cavity. The total DOF is 15. The length of the vocal tract is about 175 [mm] and almost same as an adult male's. Compared with WT-1 or WT-1R those had been developed before, WT-2 could utter Japanese vowels more clearly, and produce stops, fricatives and nasal sounds using a new flexible tonguemechanism and the decrease of the sound leak from many craps except for the lips or nostrils.
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樋口 勝, 武田 行生, 舟橋 宏明, 山田 貴詩, 松本 貴宏
2003 年 69 巻 683 号 p.
1885-1891
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
In this paper, the driving mechanism and control strategy of a power assisting system for the walking chair have been proposed. This power assisting system must utilize the human power and realize the walking velocity that the human wants. Through experiments about a prototype of the walking chair, the characteristics of driving torque have been clarified. In order to grasp the condition to drive the crank by human that human can generate the maximum power without much fatigue, the relationship among the load torque, angular velocity and fatigue have been investigated. The characteristics of detection characteristics of human to the fluctuation of the torque and angular velocity have been also investigated. According to these experimental results, the experimental apparatus of power assisting system has been constructed and the control strategy and determination method of the parameter of control system have been proposed. Effectiveness of the proposed control strategy of the power assisting system has been confirmed through experiments.
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澤野 貴紀, 村上 輝夫, 澤江 義則, 門田 孝洋
2003 年 69 巻 683 号 p.
1892-1899
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
For the tribological evaluation of artificial joint materials, it is important that in vitro wear characteristics should correspond to the wear in vivo. As the first screening test of new materials, current simple test methods such as unidirectional pin-on-disk and reciprocating pin-on-plate tests are imperfect to simulate the physiological motion. Therefore, we developed a new type of multi-directional pin-on-plate tester to reflect the three-dimensional motion in human joint. ln this tester, the friction path is controlled by the movement of pin specimen with the programmable data. Value of UHMWPE wear rate can be 1-5×10
-7mm
3/N·m, for two arcs paths in this tester, while that is 1-5×10
-8mm
3/N·m in traditional tester which is significantly underestimated in comparison with clinical wear rate. The superiority of ceramics for wear rate to metallic materials was comfirmed as indicated for clinical results. Additionally, it was shown that new type of mating materials can improve UHMWPE wear rate compared with traditional materials.
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大塚 年久, 村崎 聡, 田村 宏, 小林 志好, 佐藤 秀明, 中村 善治
2003 年 69 巻 683 号 p.
1900-1905
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
A metal-ceramic crown used in the clinical stage is manufactured by burning the dental porcelain on the metal coping. Then the deformation of the crown is occurred by a hardening shrinkage and thermal shrinkage. Therefore, a study on deformation of the metal coping in the making of metal-ceramic crowns had been done by using the finite element method (FEM). As a result, the following conclusions were obtained. (1) Neighborhoods of ends of the collar extended into outsides of the crown. In particularly, the largest deformation was observed at ends of the collar. (2) Extension of neighborhoods of end of the collar increased with increasing the length of the collar. These results coincide with results of experiment.
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橋本 義則, 竹内 芳美, 河合 知彦, 沢田 潔, 瀧野 日出雄, 野村 和司
2003 年 69 巻 683 号 p.
1906-1913
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The study deals with the manufacture of so-called fly-eye mirror in EUV lithography by means of an ultraprecision 5-axis control milling. It is extremely difficult to manufacture a highly accurate fly-eye mirror by conventional methods such as photolithography, mechanical cutting by a lathe and so on since it consists of 500 circular arc mirror elements of 15 mm in length and 1 mm in width having a spherical surface of 660 mm in radius and there are minute steps among them. ln order to manufacture fly-eye mirror with high accuracy and efficiency, the study proposes two new machining methods to manufacture spherical surface by employing a rotational single-crystal diamond tool. 0ne is to use a sphere type tool with circular arc cutting edge of 660 mm in radius. The rotation of the cutting tool forms a convex spherical surface of 600 mm in radius within a circle of 1 mm in diameter. The movement of the cutting tool along the circular arc of a mirror elements makes it possible to machine fly-eye mirror elements. Though the method is theoretically efficient, it is found that it is not practical due to the difficulty of manufacturing the tool accurately. The other is to use a flat type tool with the cutting edge angle of 90 degree. The tool enables to manufacture spherical surfaces with any radius by feeding it along the mirror surface and bears practical use because the cutting method is independent of tool form accuracy. Machining experiment was conducted by use of the latter tool. The machined circular are mirror elements of oxgen-free copper show smooth spherical surface and required steps among them without any burrs. lt is found that the proposed method has the potential of producing the fly-eye mirror correctly.
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毛呂 俊夫, 後藤 昭弘, 毛利 尚武, 斎藤 長男, 松川 公映, 福島 泰弘
2003 年 69 巻 683 号 p.
1914-1920
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
The Surface Modification by Electrical Discharge Machining, which is developed as substitute for PVD, CVD, has been applied to cutting tools and mold dies. This process was realized with the TiC powder composite structure electrode. This process is a high-speed method that a hard layer of about several microns can be formed faster than a previous CVD and PVD in a few minutes. Some experiments of surface modification were performed with two types of composite structure electrodes (TiH
2 green compact and TiC semi-sintered types)on carbon steel. The results of experiment were shown as follows ; (1) There are two types, one of them shows piling pattern and the other shows a piling and machining pattern. (2) The TiC layer made by green compact electrode is porosity construction in microstructure, then the other by semi-sintered shows very a hard and precise microstructure. (3) It is considered to be dependent on the difference in a electrode wear rate that the structures of a hard layer differ greatly.
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日野 順市, 花岡 覚, 芳村 敏夫
2003 年 69 巻 683 号 p.
1921-1926
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
This paper is concerned with study for chatter prediction in high-speed end milling operations. Chatter vibration occurring in mechanical machining gives rise to poor surface finish and dimensional accuracy in machined part, reduction of tool life, and even damages machine tools. Various kinds of researches concerning its prediction and avoidance have been carried out over the last several decades. The purpose of this study is to develop an expert system for predicting chatter vibrations in high-speed end milling using wavelet transform and a fuzzy neural network model. The proposed method is applied to a jig griding machine, and the results demonstrate the effectiveness of the chatter prediction procedure.
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社本 英二, 樋野 励, 梅崎 雅之, 森脇 俊道
2003 年 69 巻 683 号 p.
1927-1932
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
An intelligent method is proposed to recognize various end milling conditions by comparing simulated and measured cutting forces. Static stiffness of the mechanical structure is identified by utilizing the measured cutting forces, and it is shown that the static deformation of the structure can be taken into account for accurate calculation of uncut chip thickness in the end milling process. A cutting force equation is developed with considering cutting edge roundness, i.e. tool wear, and a milling force model is constructed. Various parameters in the model are identified so that the simulated forces fit best with the measured forces. Edge force component, tool setting angle, specific cutting force resistance, etc. are identified or recognized as the model parameters, which contain rich information about the end milling process. End milling experiments are carried out at various stages of tool wear, and the results show that the proposed index for the tool wear, i.e. the identified edge force component divided by the specific cutting force resistance, has good correlation with the measured tool wear. It is expected that the end milling conditions such as the tool wear, the static stiffness of the structure, the tool setting angle and the specific cutting force resistance can be recognized intelligently without any data bases by the present method.
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山田 高三, 李 和樹, 貞末 宏治郎, 井藤 雄二郎
2003 年 69 巻 683 号 p.
1933-1938
発行日: 2003/07/25
公開日: 2008/02/26
ジャーナル
フリー
In order to clarify the mechanical phenomena of grinding wheels in the contact area with workpieces, a mathematical model of wheel is proposed and a static analysis of grinding wheels is carried out. As the first step of this study, a wheel model consisting of rigid abrasive grains and bonds as spring elements with stiffness k is proposed. ln this model, grinding abrasives are uniformly arranged in body centered lattice and successive two grains are connected by a bond with static stiffness k. The amount of static stiffness of bond k deeply affecting on the mechanical phenomena in contact area is calculated with FEM analysis and the three points bending test of abrasive sticks. As the results of analysis, it can be clarified that the amount of k is determined only depending on the Brain size and the mechanical phenomena of grinding wheel in the contact area can be explained by using the amount of the static stiffness k.
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