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高橋 義考, 清水 信行, 鈴木 浩平
2003 年 69 巻 685 号 p.
2225-2232
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Accurate seismic analysis of large deformable moving structures is still unsolved problems in the field of earthquake engineering. In order to analyze these problems, the nonlinear finite element method formulated by the absolute nodal coordinate approach is noticed. Because, this formulation has several advantages about mass matrix and elastic forces in the case of large deformation problems. But, the damping characteristic in this formulation is not studied yet. In this paper, we describe the damping characteristic of the beam element in the absolute nodal coordinate formulation. We introduce Rayleigh damping model for this formulation, because this model is frequently used for the structural analysis in seismic engineering field. Finally, we show the numerical simulation results of this damping effect for linear vibration problems and a large deformation problem.
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岩本 宏之, 田中 信雄
2003 年 69 巻 685 号 p.
2233-2239
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper deals with the active wave control of a flexible beam using the wave filter constructed with four point sensors. It is the purpose of this paper to verify the active wave control system with adaptive feedforward technique. Firstly, the active sink method is introduced which is useful as a performance index of active wave control method. If the active sink system is constructed, all vibration modes are made inactive (more than suppressed), and its frequency characteristics are similar to the one of semi-infinite beam. Next, the design procedure of the wave filter using four point sensor is presented, its realization also being presented. Finally, experiment of the active wave feedforward control system is carried out, demonstrating the validity of the proposed method and the robustness against the sensor placement.
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伊藤 智博, 藤田 勝久
2003 年 69 巻 685 号 p.
2240-2247
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Instability phenomena of circular cylindrical shells due to annular leakage flow was studied both experimentally and analytically. In the analysis, an analytical evaluation method was developed using FEM which allows to treat the non-uniform longitudinal distribution of the shell stiffness of two elastic coaxial circular cylindrical shells. A wave equation was derived based on the velocity potential theory for both the annular flow and the inner flow inside the inner shell assuming that the fluid is inviscid, irrotational and compressible. Applying the coupling conditions of the shell and fluid, a coupled equation of motion was obtained. Instability was identified by complex eigen value analysis. Divergence, one of the instability phenomena, was predominantly found in both the experiment and analysis, and the effects of shell rigidity, length and annulus gap were systematically investigated and discussed.
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安田 仁彦, 神谷 恵輔, 加藤 錬太郎, 山口 俊堂
2003 年 69 巻 685 号 p.
2248-2255
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper studies a new type of impact damper, named elastic impact damper (EID), whose impact body is made of elastic material. First, damping effect of an EID is examined experimentally. Then, a mathematical model for the EID is derived, and the validity of the model is confirmed by comparing the behavior predicted by the model with those observed in the experiment. Based on the model, the mechanism of vibration control by the EID is discussed. Finally, effects of the parameters of the EID on vibration control is studied.
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山内 裕司, 清野 裕之, 安田 仁彦
2003 年 69 巻 685 号 p.
2256-2261
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
To study the sound field of a structural-acoustic coupling system, numerical analysis techniques are often used. But numerical analysis techniques are not fit to clarify systematically the features of the sound field. In this paper, an attempt is made to clarify systematically the features of the sound field in a rectangular parallelepiped with a flexible panel at one end. First, experimental study is conducted using an experimental model. Its eigenfrequencies, mode shapes are measured, and features of the sound field are discussed. It is found that in the response curve there is a fixed point, which is unaltered by a modification of the structure. Secondly, theoretical study is made using a one-dimensional mathematical model. It is found that this model can explain all the features obtained experimentally.
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青木 誠, 石原 国彦, 後藤 知伸
2003 年 69 巻 685 号 p.
2262-2270
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
In order to investigate the characteristics of aerodynamic sound generated from plates which have various chord-to-thickness ratios (=2.0∼37.5) and four types of edge shapes consisting of the semi-circular and square, wind tunnel experiments are conducted. Moreover, the sound source distributions of the aerodynamic sound generated from the plates with the square edges are calculated by the 2-dimensional numerical analysis based on the Lighthill's equation with the incompressible flow data. In this study, some basic characteristics of the aerodynamic sound such as (i) the Peak Strouhal number St, (ii) the increase in Peak SPL with the wind velocity U, (iii) the radiation directivity and (iv) the practical critical condition of acoustically compact for chord-to-sound wave length ratio c/λ, are investigated. As a result, it is found that the St depends on the leading edge shape and that the Peak SPL isn't proportional to U
6 under the condition that c/λ becomes greater than about 0.3 (≒1/π). Moreover, the Lighthill's sound source near the trailing-edge is the main contributor for the sound field independently of the edge shape. This result leads to a simple model which consists of the dipole source and the rigid plate for the acoustic analysis. We can also derive the same critical condition of c/λ from the sound calculation results of the previous model by the 2-dimensional boundary element method.
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菊地 勝浩, 吉田 康夫, 飯田 雅宣, 吉村 彰芳
2003 年 69 巻 685 号 p.
2271-2279
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Low-frequency pressure variations observed at the time of train passage have been measured so far by a low-frequency sound level meter. The waveforms measured by this instrument are different from their original because of the influence of the frequency characteristic of the instrument. Therefore, it is desired to establish a method to grasp the original waveform of pressure variations. To obtain the original waveform, a method which restores the original waveform from the measured data obtained by the existing instrument is considered. To restore the original waveform, frequency characteristics of the low-frequency sound level meter is estimated through a frequency response function. The problem of restoring the original waveform is formulated as designing a digital inverse filter whose frequency characteristic corresponds to the inverse of that of measuring system. Through the application of the digital inverse filter to the data measured by the low-frequency sound level meter, effectiveness of the method to obtain original waveforms is verified.
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小松崎 俊彦, 佐藤 秀紀, 岩田 佳雄, 森下 信
2003 年 69 巻 685 号 p.
2280-2286
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The present paper deals with flow simulations of granular materials moving inside container using Cellular Automata (CA). CA is a class of computer modeling techniques, which consists of discrete unit elements arranged uniformly on spaces, each of which can vary within a finite set of values to express the physical state of the components of the system. The time of evolution of the element state is performed synchronously according to local neighbor rules, instead of governing equations, taking into account the state of the element itself and its nearby elements. Compared with the conventional method such as DEM, it is addressed that the modeling techniques with CA provide advantages on the point of computation efficiency and numerical stability due to the discrete treatment of time and space. In this study, the damping characteristics of a granular damper is investigated numerically by Cellular Automata model and also by DEM, where a container which incorporates granular materials is attached to the mass of one-DOF vibrating system. The container is treated two-dimensionally with thickness identical to a diameter of particle. The simulated particle motions and the damping effects obtained by CA model is compared with DEM solution as well as experimental results, and the present CA model is evaluated in qualitative aspects.
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高橋 直彦, 広島 実, 三浦 治雄, 福島 康雄
2003 年 69 巻 685 号 p.
2287-2294
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
There are many papers that discuss instability caused by inadequate controller design for rotor-active magnetic bearing (AMB) systems, but it is not well known that the iron losses affect their control stability. Since the unbalance force in rotational coordinate stays in a constant phase angle at fixed speed, the magnetic force that compensates the unbalance force also stays in a constant phase angle. This causes a stationary distribution of iron losses on the rotor and that makes a thermal bow. This paper presents the thermally induced unstable vibration in a rotor-AMB system. Focusing the interaction between an unbalance control and a thermal bow through iron losses reveals the mechanism of the instability. A model including the thermal dynamics is proposed and the instability condition is derived. Lastly, how to avoid the thermal instability is discussed.
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前森 健一, 小金井 玲子
2003 年 69 巻 685 号 p.
2295-2301
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
We propose an optimization method of semi-active hydraulic shock absorbers for landing gears of aircrafts for cope with the problem that the vertical acceleration of aircrafts during landing varies due to variation of their masses. The maximum vertical acceleration of an aircraft is set as an objective function to be minimized. The design variables searched in the first step of this optimization for a semi-active shock absorber are discrete orifice areas made by the metering pin and a hole. And the design variable searched in the second step is a compensating orifice area that is controlled for the mass variation. As a result of the optimization, the optimum orifice areas of the semi-active shock absorber are obtained, and it is clarified that the shock absorber can cope with the mass variation of the aircraft as much better as an optimum passive one.
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富樫 千晴, 一柳 健
2003 年 69 巻 685 号 p.
2302-2307
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Recently a comfortable nature for trucks is in demand, from the point of view of improvement of competitive ability. Above all, idle vibration is important in order to investigate making a truck comfortable. Active engine mount is applied to passenger diesel cars to reduce idle vibration. It has not been used for trucks because larger engine sizes need more space. This paper presents a new type of hydraulic active mount which consists of a voice coil motor, a bellows and an accumulator etc. The results of a test show that it reduces transmitted force from 25 dB to 46 dB.
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小菅 一弘, 須田 理央, 風村 典秀, 佐藤 学, 角谷 啓
2003 年 69 巻 685 号 p.
2308-2314
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
In this paper, we propose a mobile robot helper and its motion control algorithm for handling an object in cooperation with a human. First, we introduce a prototype of the mobile robot helper, "MR Helper", which consists of two manipulators and an omni-directional mobile base. We then propose a control algorithm for handling an object in cooperation with a human. The control algorithm specifies the apparent dynamics of the manipulated object so that the human could handle the manipulated object together with the robot. Load sharing by "MR Helper" and a human is also realized by introducing a lifting-up/down system. The control algorithm is experimentally applied to the "MR Helper", and the experimental results illustrate the validity of the proposed control algorithms.
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内田 洋彰, 野波 健蔵
2003 年 69 巻 685 号 p.
2315-2322
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Recently, land-mine clearance activities have been addressed in the world. We've proposed the mine detecting method using six-legged robot. Concerning the mine detecting work by legged robot on the mine field where is uneven terrain, the legged robot is demanded the stable mine detecting work. In this research, we propose a new two generating method of feedback force reference signal in the case that the attitude of the six-legged robot is controlled by force control. First method is to extend Sky Hook Suspension Control, which is a useful attitude control method for a quadruped robot, to a six-legged robot. Second method is optimal servo control. The proposed attitude control method is examined by 3-D simulations of mine detection robot COMET-I and the experiments of mine detection six-legged robot COMET-II.
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若田 光一, 柴田 智哉, 狼 嘉彰
2003 年 69 巻 685 号 p.
2323-2330
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The Canadian Space Station Remote Manipulator System (SSRMS) that consists of 7 joints has been in operation since 2001 aboard the International Space Station (ISS). The extensive operational experience of the Space Shuttle's Remote Manipulator System (SRMS), which has 6 joints, played a significant role in the design and operation of the ISS robotics. However, optimization of the ISS robotics operation for different types of tasks utilizing the unique redundancy characteristics of the 7-joint systems is still underway. In this study, we have proposed three evaluation indices for multi-joint arm configurations in order to avoid collision with surrounding structures. Based on the evaluation of operations of the SSRMS a demonstration model, it has turned out that the proposed indices are beneficial for enhancing clearance monitoring of the arm with respect to the surrounding structures. Furthermore we have proposed an operation support display to contribute to the operational safety and mission success.
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藤田 恒昭, 堀江 直之, 吉村 英夫, 山本 純雄, 尾崎 功一
2003 年 69 巻 685 号 p.
2331-2335
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper presents the development of a robot system for decontamination processing on radioactivity place such as a reactor well in nuclear power plants. The surface on the well or the cavity is stained with radioactivity. The decontamination process is very important and necessary for the maintenance. In past, the process was carried out by the factory workers. In this study, the decontamination robot system has been developed, which is equipped with a washing mechanism and vacuum unit, and it is able to move on the wall. The developed robot systems are applied to actual nuclear power plants. The paper describes the design and the mechanism of the robot system, and shows the efficiency of decontamination on the radioactivity wall.
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今西 悦二郎, 南條 孝夫, 廣岡 栄子, 井上 喜雄
2003 年 69 巻 685 号 p.
2336-2343
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Dynamic simulation of flexible multibody system with the hydraulic drive is presented for the digging operation of the hydraulic excavator. The energy saving technology is required on the construction machinery design from the present environmental point of view, and the dynamic simulation is useful for the energy saving evaluation. The digging operation of the hydraulic excavator involves the dynamics of linkage system and the hydraulic drive system that includes nonlinear characteristics such as the check valve and so on. New numerical analysis method is presented for the coupling system of the linkage system and the hydraulic system, which consists of the time increment prediction method on piecewise-linear characteristics and the bisection method in Newton method. It is shown that this method is useful for the dynamic simulation of the flexible multibody system with the hydraulic drive by appling to the simulation of digging operation on the hydraulic excavator.
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小林 太, 福井 猛晴, 福田 敏男, 新井 史人, 小野田 誠, 小島 史男
2003 年 69 巻 685 号 p.
2344-2349
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Recently, sensor fusion is received much attention in various fields. In sensor fusion, sensor values are integrated and fused for inferring states which conventional sensors cannot measure easily. This paper describes a novel sensor fusion method by a link selective neural network based on sensor selection. In this method, sensors are selected by offline sensor selection according to process condition and online sensor selection according to the reliability of each sensor value. The link selective neural network consists on two neural networks, a fusion neural network and a gating neural network. The gating neural network determines the structure of the fusion neural network according to sensor selection and process conditions. For showing the effectiveness, we apply the proposed method to inference of the surface roughness in the grinding process.
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佐藤 俊之, 高橋 武彦
2003 年 69 巻 685 号 p.
2350-2357
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
A robust design of discrete-time two-degree-of-freedom servo systems that are subject to reference inputs bounded in magnitude and rate of change is discussed. Based on the principle of matching, we derive a practical sufficient condition that ensures stability and time-domain specifications under plant uncertainties. To demonstrate the effectiveness of the proposed design method, we give a simple design example of a speed control system of a DC servomotor.
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山田 功, 茂木 孝之
2003 年 69 巻 685 号 p.
2358-2365
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
In this paper, we examine a design method for robust control systems with robust stability for minimum phase systems using phase information. Yamada clarified that, using phase information, low sensitivity control systems with robust stability can be achieved if the relative degree of plant is equal to or 1-degree smaller than that of the nominal plant. In many cases, it is difficult to obtain the accurate relative degree of plant. The purpose of this paper is to expand the result by Yamada and give a design method for low sensitivity control system for the system with uncertain relative degree using phase information. In order to design low sensitivity control with robust stability, we adapt the idea of fusion of robust control design using phase information and the parallel compensation technique. A design procedure for low sensitivity control with robust stability is presented. Finally, without solving interpolation problem, a design method for low sensitivity robust servo control systems with robust stability is presented.
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本間 淳平, 藪田 哲郎, 梶 信也, 吉田 耕一
2003 年 69 巻 685 号 p.
2366-2373
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper shows compliance control results of Master-Slave system in comparison between Direct Compliance Control (DCC) and World Compliance Control (WCC). DCC gives compliance in the joint control system. On the other hand, WCC gives the compliance to robot hand in the work space. DCC can avoid reckless driving in the singular attitude although WCC shows reckless moving in it. These results show that DCC gives an desirable performance for the Master-Slave system which may be in the singular attitude under manipulation process. On the other hand, DCC results show lock phenomenon of the manipulator, and vibration in neighborhood of the singular attitude. Moreover, DCC operating force of Master system in the free space shows larger then that of WCC because of J and J
T transformation effect. Moreover, in the constrained space, perturbation of DCC force shows a little bit larger than that of WCC force, which gives a similar effect in the free space.
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藤垣 元治, 森本 吉春
2003 年 69 巻 685 号 p.
2374-2380
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Phase-shifting methods for analyzing phases of a grating projected onto an object are useful to measure the shape of the object accurately. Conventional phase-shifting methods usually uses three or four cosinusoidal phase-shifted images. The grating images are recorded with stopping phase-shifting so that the brightness does not change during the exposure time of the camera. The stopping procedure, however, obstructs speed up of the measurement system and it is difficult to produce a grating film which has an accurate cosinusoidal brightness distribution. In this paper, an integrated phase-shifting method (IPSM) using a Ronchi grating is proposed. This method is suitable for real-time phase analysis. The theory and an application for shape measurement of a deformed tire are shown.
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田中 真美, 林 寛貴, / 田上 八朗, 菊地 克子, 長南 征二, Seiji CHONAN
2003 年 69 巻 685 号 p.
2381-2388
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper is a study on the development of a haptic sensor system for monitoring skin conditions. The sensor is an assembly of layered media. The base of the sensor is a stainless plate, on which a sponge rubber, a PVDF film with electrode patches, a protective surface layer of acetate film and a gauge are stacked in sequence. The sensor is attached to the forefinger and pressed against the surface of the skin. It is then slid over the skin to collect surface morphological features. Through the fundamental experiment using the artificial objects, two evaluation parameters characterizing skin conditions are determined. One is the variance of the signal processed with a wavelet analysis, which is the index of roughness. The other is a parameter showing the dispersion of power spectrum density in the frequency domain, which is the index of softness. The sensor system is then applied to the clinical test of skin with various conditions. Results show that the sensor output well describes the skin conditions and represents the subjective evaluations of dermatologist.
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田中 真美, 中川 陽子, 棚橋 善克, 長南 征二
2003 年 69 巻 685 号 p.
2389-2396
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper is a study on the optimum design of a palpation sensor for the diagnosis of prostate abnormalities. The palpation sensor is configured as a polyvinylidene fluoride (PVDF) film placed on a sponge rubber base. Thus, the stiffness of the sponge rubber base of the sensor is of great importance for the best discrimination of normality and abnormality. First, the elastic characteristics of real organ tissues, both normal and abnormal, are investigated. Then, FEM analysis is introduced for the optimal design of sensor and the best fit stiffness of the sponge rubber base is determined. Also verified by the FEM analysis is the effect on improvement of sensor sensitivity with a convex vulcanized rubber sheet atop of the sensor. Finally, verification test on the sensor performance is performed and good agreement between the analysis and experimental results is confirmed.
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高嶋 孝倫, 藤本 浩志, 高西 淳夫
2003 年 69 巻 685 号 p.
2397-2402
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The viscoelasticities of arch support structures was recognized in this study, using the simple foot model with the torsional spring-damper model to apply the human foot arch complex. The arch is deformed during bipedal gait motion. Especially the maximum deformation was observed in midstance to push-off. Then the deformation is controlled by means of arch support elements. The recognizing method was based on the hypotheses that the experimented external arch moment was equal to theoretical internal arch moment. The stiffness of the arch was identified at 4 phases in a gait cycle, (I) heel contact phase, (II) the entire planter contact phase, (III) push off phase, and (IV) swing phase. This study shows three results. (1) The arch elasticity increases in the phase III (n = 6, p < 01), since it's produced by functional changes based on Elftman, windlass mechanism based on Hicks, and muscle activities. (2) The arch viscosity increases in the phase II (n = 6, p < 01), because of the shock absorption in some arch functions. (3) We recognized much more stiffness with the evening foot than the morning foot (n = 6).
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福谷 和久, 豊島 史郎, 豊 秀喜, 山本 淳
2003 年 69 巻 685 号 p.
2403-2410
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
One-dimensional numerical model of optical fiber drawing to predict diameter fluctuation caused by periodical fluctuation of heat transfer between silica glass preform and furnace gas, has been developed by using perturbation method based on steady solution. It is assumed that heat transfer coefficient is fluctuating in neck-down region and its frequency range is 0.001∼100 Hz. As a result, it is revealed that relationship between fluctuation of heat transfer coefficient and that of diameter can be divided into three modes by the order of diameter gradient and velocity gradient at heat transfer fluctuating point. The diameter fluctuation of first mode is large in low frequency range and that of third mode is so in high frequency range. As drawing velocity become higher, the fluctuation of third mode becomes larger, because velocity gradient becomes higher. And as heater becomes longer, the region of second mode becomes wider, because velocity gradient of heater region decreases.
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荒川 雅生, 八木 俊朗, 中山 弘隆, 石川 浩
2003 年 69 巻 685 号 p.
2411-2417
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
In the very early stage of design process, senior designers have to decide importance of technical issues that their products need and they have to weight to each function. Although these initial decisions play quite important roles in the final design, it is very difficult to optimize these weighting factors. One of important reasons is that its difficulty in estimating total estimation in scalar. And also, it is quite difficult to optimize weights. In this study, we use Data Envelopment Analysis (DEA), which can derive total estimation and optimum weights by given data. In order to show the effectiveness of the proposed method, we collect data of Japanese automobiles in 1999 from information magazine and estimate total technical evaluation and its weights.
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飯田 康博, 藤本 英雄, 陳 連怡
2003 年 69 巻 685 号 p.
2418-2423
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The establishment of low-cost and multi-functional automation technologies are still indispensable to the industry today to keep up cost competitiveness. This study sheds light on the human advantages in production environment : dexterity and flexibility with which the human performs most complicated and difficult tasks. This gives a clue to a new approach to automation. Especially, this paper focuses on the human task learning characteristics in parts supplying operation for assembling task, the area where automation is not full-fledged yet. In this paper, first, the three remarkable human characteristics concerning searching and gripping of a part are extracted. Next, based on these characteristics, a low-cost automation system and the development theme are newly proposed.
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吉田 秀久, 永井 正夫
2003 年 69 巻 685 号 p.
2424-2430
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
In order to improve the ride comfort, reducing lateral acceleration is necessary. This paper treats the railway vehicle which runs in curved sections. As a determination method of tilting control quantity operated at present, there are two kind of methods. One is the system using in Japan. It has curve data of the travel interval in the on-board, and it is a method for the tilting order according to the position signal detected from the ground. Another is the system mainly used in Europe, and curve information should not be used, and over centrifugal acceleration which affects the car body is obtained from lateral acceleration in not tilting car truck division, and the tilting quantity has been deduced. The basis of the tilting control method for realizing the inclination goal is also the feedforward tilting control on both systems. In this paper, the feedback type of tilting control, which can maintain the vehicle inclination close to a desired value, is examined ; reduction of vehicle body vibration is also expected with this control. Practically, the curves are obtained by collecting data in real time from the vehicle body traveling through a curve, and this information is utilized in the proposed tilting control method. The effects of the control system are verified by computer simulation study and experiment study.
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鈴木 桂輔, 丸茂 喜高
2003 年 69 巻 685 号 p.
2431-2436
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
We analyzed the driver's braking behavior during the system-limit-warning, meaning the system is inevitable to avoid the collision on the preceding vehicle, when the driver was using Low Speed Adaptive Cruise Control. It was observed that the drivers are judging the condition of system-limits, not only by themselves but also by the system-limit-warning. Driver's braking behavior was delayed when the assumed delay time was set at less than 1.2 s in the Stopping Distance Algorithm. We also analyzed the driver's braking behavior in the miss warning condition. Driver's braking behavior during the miss warning was extremely delayed when the assumed delay time was set at less than 1.0 s. In the designing of warning timing by use of Stopping Distance Algorithm, one of the optimal warning timing is 1.2s, when we focus on not only the normal condition that the warning system operate accurately but also the miss warning condition.
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尾田 雅文, 磯村 恒, 関口 行雄, 原 利昭
2003 年 69 巻 685 号 p.
2437-2444
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The purpose of this study is to detect the eye-gazing points during driving a wheelchair simulator through the image sequence analysis of video frames. The performances can be measured without restrictions of specific devices such as any accessories and sensors, which were put on a body. Images obtained with two video cameras allow the algorithm with two-dimensional matching pursuit through wavelet analysis to extract boundaries of right and left irises. Their three-dimensional positions and directions were estimated through the Direct Linear Transformation technique. The eye-gazing point was evaluated through the relationship between the vertical vectors of iris and line-of-sight. Consequently, some preliminary results were presented to illustrate the difference in variations with the eye-gazing point, which have relationship to the experience of wheelchair.
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池村 澄男, 石原 荘一
2003 年 69 巻 685 号 p.
2445-2451
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
We have developed a cart which could ascend and descend stairs carrying about 490 N (50 kg) load (corresponding to 2 cases with 20 of 633 ml filled bottles). This cart has two wheels consists of six spokes with small rollers on the tip of each one. Dimensions of six spokes were decided to ascend stably various stairs. It is driven by a motor with built-in reduction gears through an endless chain to transmit and increase torque, designing to counteract motor torque reaction by load moment.
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栗田 昌幸, 土山 龍司, 徳山 幹夫, 徐 鈞国, 吉村 保廣, 小平 英一, 蘇 立志, 加藤 康司
2003 年 69 巻 685 号 p.
2452-2457
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The current design of magnetic disk head sliders needs an extra margin of flying height for manufacturing tolerance or environmental variation. To reduce this margin, we have developed an adjustable flying-height slider. This slider carries a piezoelectric micro-actuator and its flying height can be controlled. After simulating the piezoelectric deflection and flying characteristics, we designed an air bearing surface structure for the slider and fabricated it by silicon micro electro-mechanical systems (MEMS) processing. We solved some fabrication problems left in our previous report and optically observed the slider change its flying height as an electric voltage was applied to the micro-actuator.
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谷水 義隆, 阪口 龍彦, 杉村 延広
2003 年 69 巻 685 号 p.
2458-2463
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
A systematic method is eagerly required to modify the predetermined production schedules in order to cope with unforeseen changes in manufacturing systems, such as delays of manufacturing processes. The objective of the present research is to propose a scheduling method based on GA (Genetic Algorithm) for modifying delayed production schedules reactively. A prototype of reactive scheduling system is developed and applied to scheduling problems. The effectiveness of the proposed method is verified through the comparison of the experimental results of the reactive scheduling with the ones of the rule-based real-time scheduling.
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井原 透, 蚊戸 健浩
2003 年 69 巻 685 号 p.
2464-2469
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
This paper proposes an evolutional changing method of the machine tool performance adapted for production culture. The production culture differs from country/era to country/era. Each production cultural sphere needs each survival processing method in belonging the country or the era. So, every specific manufacturing facility performance is necessary to correspond to the vague production culture. Therefore, we propose the method to turn the ambiguous cultural attribute into the technical attribute by using a tree structure and more to estimate the technical attribute at the quantified dignity with Quality Function Deployment. As a result, we can carry out the feasibility study changed the NC parameter as an example of the evolutional changing method to adapt the machine tool performance for production culture.
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田辺 郁男, 山口 直也, 水谷 淳之介, 渡辺 哲也, 板垣 薫
2003 年 69 巻 685 号 p.
2470-2475
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Recently, stainless steel and titanium are mainly used as a structure material. And some surface treatments about coloring for these metals are used for producing high quality industrial product. For example, coloring for titanium using anodization method is often used. This method is suitable for the uniform coloring, big lot and large area. However, this is inappropriate for the complicated coloring, small lot and small area. New method is required for complicated coloring on small area. Therefore, a new surface treatment about coloring for stainless steel and titanium using YVO
4 laser machine was needed. In this paper, the new surface treatment method was established, and the principle of the coloring was made clear, then the controlling method of coloring was developed and evaluated. It is concluded from the results that coloring for stainless steel and titanium using YV0
4 laser machine became possible, the coloring could change by thickness of oxidization film (TiO
2 or CrO
3), requested colors could be made by the inverse analysis using neural network.
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鹿野 昌徳, 大好 直
2003 年 69 巻 685 号 p.
2476-2481
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
The key words of resource reduction, resource reuse and resource recycling, are clues for designers to improve the environment conscious products in view of life cycle assessment. The product design recommended from this concept is adopting modular structures to satisfy the various demands in the resource circulation as much as possible. We have proposed the modularity measure as one measure of evaluating quantitatively the disassembly of the industrial product depending on product structure. This modularity measure proposed to use it to improve the design of the same product by a relative evaluation. Application study to a mouse of PC input controller device has been demonstrated here. The result shows that the measures are helpful to estimate modular structures. The development of desired modular structures by making use of the measures will be the main work for engineers to develop the sustainable society.
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村木 正芳
2003 年 69 巻 685 号 p.
2482-2488
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Viscosity-pressure-temperature relations at a pressure up to 0.7 Gpa and a temperature between 30 and 90°C were determined with a falling ball type viscometer for some paraffinic mineral base oils including solvent refined oils, hydrocracked oils and the oil produced by a wax isomerization process. Then, the viscosity at a higher pressure condition than that of the viscometer was derived by applying the simplified non-Newtonian solution to the traction curves determined with a ball on disk type EHD tester. When the measured viscosity and the calculated viscosity were plotted against pressure, for the oils with higher viscosity index than 120, the viscosity derived from traction measurements followed the extrapolated curve to the high pressure region by either the Yasutomi formula or the Roelands formula using the parameters obtained with the viscometer. On the other hand, the calculated viscosity for the higher viscosity index oils deviated upwards from the extrapolated curve.
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小森 雅晴, 久保 愛三
2003 年 69 巻 685 号 p.
2489-2496
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Gears for light and small transmission gearbox, e. g. for passenger car drive, are operated under different conditions in gear shaft alignment, because the gear shafts, bearings and gearbox are deformed considerably by different magnitude due to varying transmitting load. Under the maximum loading condition, those gears must be safe. On the other hand, the same gears have to accomplish low vibrational characteristics under light loading condition, i. e. under cruising condition of car. In the previous reports, the design method of optimum dimensions of helical gear of a definite corrected tooth flank form, and the design method of optimum tooth flank form of gears of a definite dimension, were individually proposed. In this report, those design methods are integrated into a practical simultaneous optimum design algorithm of gear dimensions and tooth flank form. The induced stress and vibrational characteristics of the optimized gear are investigated by this proposed design method. The optimum setting procedure of material allowance and support stiffness of gears in box to minimize the vibrational excitation on gearbox is also suggested.
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小森 雅晴, 久保 愛三, 高橋 知之, 田中 貴文, 市原 義雄, 小宮山 優
2003 年 69 巻 685 号 p.
2497-2504
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Endurance test of carburized helical gears designed to realize extremely high load carrying capacity is carried out, where gears are designed optimumly against common gear failures such as tooth breakage, pitting and scuffing of tooth flank. The test showed some kinds of tooth failures caused by contact of tip edge and tooth side edge due to small amount of profile form and lead crowning' modification. Very small chipping failure occurs at side edge of tooth, although corner chamfer is given there. Chipping induces some subsurface microcracks and they propagate to result in tooth breakage. High contact pressure and highly stressed condition near tooth side edge, where the material is overcarburized and fragile, are considered to be major reasons of such chipping of tooth side edge. Corner rounding of side edge of tooth has an effect to reduce such chipping, compared with corner chamfer, and prevents tooth breakage due to crack propagation from chipping.
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小森 雅晴, 久保 愛三, 高橋 知之, 田中 貴文, 市原 義雄, 小宮山 優
2003 年 69 巻 685 号 p.
2505-2513
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
Gears designed for high load carrying capacity after conventional criteria have relatively small amount of profile and lead crowning modification. As a result, tooth tip edge and tooth side edge contact rather strongly on mating tooth flank and have much influence on failures. In the previous report, chipping of tooth side edge was investigated and the details of characteristics of the failure due to chipping were reported. On the other hand, the surface of wider tooth flank which contacts with side edge of mating tooth is polished after small loading cycles and then pitting failure occurs in that polished area. Those pits expand in tooth lead direction to the middle of tooth and finally form a large surface failure like spalling or flaking. Cracks initiating from that spalling cause tooth breakage. High contact pressure, high stressed condition and longitudinal slipping due to Hertzian elastic deformation at tooth side edge contact as well as slip by progress of meshing and insufficient oil film thickness, are considered to be major reasons of this type of pitting.
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岩本 安弘, 田村 久司, 谷藤 克也
2003 年 69 巻 685 号 p.
2514-2521
発行日: 2003/09/25
公開日: 2008/02/26
ジャーナル
フリー
A new method to cut the spiral bevel gears of Klingelnberg cyclopalloid system is proposed. The feature of the cutter used in this method is the straight cutting edge whose extension line does not pass through the cutter axis. The blade having a cutting edge can be made easily and its rake face can be reground to sharpen the cutting edge with an ordinary surface grinding machine. In the method, the pinion is generated with a complementary crown gear and the gear is generated with a newly introduced Pseudo-complementary crown gear. The pseudo-complementary crown gear is the generating gear whose pitch plane is not tangent to the pitch cone of work gear. The tooth (tool) surface of each crown gear is made up with the above mentioned cutter. The availability of the method is confirmed by trial gear manufacturing.
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