The excitation force of an induction motor is composed of many peak frequency components. The highest peak of the force appears at a frequency of 100 Hz, which is twice the power-supply frequency. We called this frequency component an “2 f component”, and analyzed the force of this 2 f component. When the motor is in operation, the torque of the motor fluctuates at twice the power-supply frequency. This torque pulsation is cause of the excitation force of the 2 f component. Based on the mechanism of excitation-force generation, we developed a method for estimating the excitation force of a motor. Using this method, the excitation force of the motor was estimated from both the equivalent circuit and finite-element model of the motor. The results obtained by this method agreed well with the results of the excitation force measured by using load cell.

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The direct measurement method of motor excitation force was investigated using a test system with a capacitor motor and a load cell. First, the direct measurement method was analyzed by using a two-degrees of freedom system theoretically. Several analyses were performed to investigate the influence of the stiffness of the structure for supporting a motor. The calculation results indicate that the excitation force measured by a load cell is strongly influenced by the stiffness of the supporting structure. Next, the motor excitation force was measured using test system with a capacitor motor, a load cell, and a high-stiffness block. Furthermore, the test system, which was composed of the motor and a thin steel plate, was modeled by the finite-element model, and the vibration response was calculated by using the measured exciting force of the motor. And the calculated and measured vibration accelerations of the thin plate agree well.

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We have proposed a simple disk spindle model supported by a plain journal fluid bearing at the upper part of shaft and a spherical grooved pivot bearing at the bottom of shaft and made clear that this spindle system can be stabilized by the gyro effect theoretically. In this study we manufactured three prototypes of the disk spindle composed of two 3.5 inch disk platters, a plain journal bearing and a spherical grooved pivot bearing. Then we measured radial and axial vibrations at rotational speed up to 9150 rpm. We confirmed the stability of the spindle and found that the averaged amplitude of half frequency whirl is about 30 nm. We also evaluated the NRRO and found that the tracking error due to NRRO is comparable to the conventional one. Unbalance stiffness is estimated to be larger than the conventional one if the bearing size is identical.

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A refined solution procedure is presented for analyzing in-plane free vibrations of a rotating circular plate with varying thickness. Equations of motion and boundary conditions are derived considering the effect of initial tensions due to the rotation. The equations of motion are solved exactly by power series expansions. Frequencies and stress distributions of the circular plate with linearly and exponentialy varying thickness are presented and the characteristics are discussed comparing the results by the present theory with those by the classical theory.

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Vibration characteristics of whirling motion of a VTR (video tape recorder) guide roller are investigated by numerical simulation and experiments. The previous experimental study shows that a high frequency forward whirl of a VTR guide roller due to friction between the guide roller and shaft causes squeal sound of the guide roller during high speed rewinding operation. In this study, a two-dimensional dynamic simulation model of a guide roller-shaft-tape (belt) system is proposed together with five equations of motion, and steady and transient vibrations of the roller and shaft are calculated. The results show that the roller center executes a swing motion around a certain point on a clearance circle when no disturbance is given to the roller. After giving a disturbance to the roller, the large amplitude and high frequency forward whirl of the roller occurs after several contacts with the shaft and this simulated process has a good agreement with the experimental results. The increase in the friction coefficient and stiffness of the shaft develops the forward whirl and the increase in the clearance and the contact stiffness between the roller and shaft and the roller mass has the opposite effects.

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This paper deals with the occurrence mechanism of the squeal generated in the rigid type disk brakes for car and its countermeasure by cutting a part of the pad surfaces in the circumferential and radial directions experimentally and theoretically. The squeal reduction has been investigated by using a bench test rig separating a brake unit consisting of rotor, caliper and pads only from a brake assembly, when verifying countermeasure against the squeal in the car disk brakes. However, the squeal generated in actual cars cannot he exactly reproduced on a bench test rig. Hence, in this paper, by using two different bench test rigs installed a common brake unit, the common features of the squeal phenomena and the effective countermeasure were made clear. Moreover, a simple analytical model coupled between rotor and caliper through pads regarded as elastic elemet was applied to the analysis of the low frequency squeal of the rigid type disk brake. It was confirmed that the analytical results were in a fine agreement with the experimental ones.

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This paper describes an active vibration control to effectively reduce the unbalanced vibration of an overhung rotor system. A vibration control device is installed between a driving motor and an overhang rotor. This control device consists of a simply supported rotor-shaft system, a rotor of which is installed in four pairs of electromagnets to supply a control force. The optimal regulator theory is applied to decide the control gain suppressing the vibrations of the overhung rotor. Influence of weighting coefficients in the cost function is investigated, and the optimal feedback gains to give the effective vibration suppression performance are provided. Frequency response curves are simulated numerically and the effective vibration suppression performance is shown. For practical use, the simplification of the rotor model for controller design and the application of the Kalman filter are also examined. The numerical results are compared with experimental ones and hoth results show the similar tendency in our study.

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Active vibration control is introduced to an electrodynamic regenerative vibration damper. It is intended to improve vibration reduction capability using the regenerated energy. An electrodynamic actuator is used as an energy regenerative damper and active control actuator. This idea is applied to a moving mass type vibration absorber and vibration control is performed. In the case of energy regenerative control, a PWM step-up chopper is used to solve the dead zone problem. Active control signal is also controlled by other PWM chopper from the power supply. However, energy regenerative and active control mode can not operate at the same time. A new control law is introduced to switch control mode and to follow the ideal force. The ideal force is calculated using the LQ control theory. Experimental setup is mode to confirm the proposed technique and the damping capability is tested.

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For the passive vibration isolation system, a friction damper is often used becasue it is sipmle, inexpensive and robust. However, the conventional damper of constant friction force has performance limitations ; the isolation characteristic declines when the friction force is large, while the resonant peak becomes large when the friction force is small. Furthermore, the displacement remains apart from the equilibrium position after the vibration diminishs. In order to overcome above drawbacks of the conventional friction damper, a new type of friction damper is proposed in this paper. In the new friction damper, the friction lever mechanism is devised to make the magnitude of the friction force proportional to the relative displacement. This is achieved by connecting the end of the lever to the restoring spring. The transient response and the displacement transmissibility are examined by numerical simulation and experiments, confirming the effectiveness of the linear friction damper.

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The vibration sensors are widely used in the field of vibration control and measurement. In applying the modern control theory to anti-vibration controlled objects, the state variables both the velocity and displacement become useful signals. Then, the velocity sensor in comparison with the acceleration sensor, which is in general used, is very useful. However, its frequency band is limited by high frequency resonance due to the electrical stiffness. If the velocity sensor having flat frequency band is developed, this sensor becomes easy to handle not only in the control field but also in the measurement filed. Then, this paper shows that the inverse notch filter, which is inserted in the closed loop, flattens out the frequency response originally having high frequency resonance. Firstly, the block diagram of the velocity sensor as a closed system is shown. Its sensitivity, the low break point frequency, and the high frequency resonance are formulated. Secondary, the gain and phase margins are calculated and we try to improve the frequency response based on these indices. Finally, it is shown that the frequency band can be flattened by inserting the inverse notch filter in the closed loop

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This paper deals with an approximation method to obtain a sub-optimal control law which is described as a function of time. This method is based on calculus of variation. Results of this method and analytical solution are compared using low order model. And it is clarified that accuracy of this method is enough for practical use in suitable length of time interval for criterion and this method is intelligible to conduct the control law. Further it is shown that design parameters are decided by boundary conditions and numerical search.

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This paper proposes a novel robust fuzzy-neural network based control system design for the mechatoronic positioning servo systems that have nonlinear characteristics such as friction, backlash, variations of load and system parameters, and unknown disturbances. The proposed fuzzy neural network based control scheme consists of three elements : a) a feedback compensation of velocity and position : b) a feedforward compensation which has inverse dynamics of the PD controlled plant based on neural networks ; and c) a nonlinear deviation compensator based on fuzzy neural networks. This paper formulates the characteristics of the controller design, and defines the stability and the robustness which are the analysis of the system characteristics.

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A closed loop mechanism with plural active connecting chains and one passive constraint chain, which restricts the motion of an output link, can be considered as a parallel mechanism with a constrained connecting chain. In this paper, concise kinematic analysis formular for this type of mechanisms has been derived. By modeling the passive constraint chain as an active connecting chain with some fixed active joints, equations for analyzing a parallel mechanism can be directly applied. The basis of the motion space of the constraint chain is firstly determined and that of the connecting chain is determined such that it contains all the coordinate vectors of the constraint chains. The basis of wrench space is determined as the dual basis of that of a connecting chain. The determination of the basis in this way makes it possible to separate the elements of wrenches to elements involved in the motion and other elements. This separation makes it possible to reduce the dimension of the Jacobian of the output link to that of the motion space of the constrained chain, and the motion and force analysis can be expressed by this Jacobian. Developed method is examined by appling to a 2 DOF prismatic kinematics to derive torques of active pairs verses inertial force of links.

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This paper discusses a design method for optimal counterbalances and motors of a vertically articulated manipulator with 3 links in order to save the dissipated energy. A spring-balancer and a mass-balancer are mounted on the second and the third link respectively to make compensation for gravity force. The optimal design of the manipulator is performed by minimizing of the maximum eigenvalue consisted of the inertia of motors and a mass-balancer, the torque constants and the armature resistances of the motors. The constraint condition, which the motor should depend on, is derived from the equation that the starting current equals the maximum peak current. The manipulator system with the optimal spring-balancer and mass-balancer is designed and compared to one with two mass-balancers and one without balancers. The total weight and the dissipated energy of the optimally designed manipulator can be decreased remarkably.

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This paper proposes adaptive adjustment methods of a preplanned regrasping strategy according to position and orientation errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. However position and orientation errors of a grasping object from those in numerical simulation are experimentally inevitable since there are many indeterminable factors such as slip contact between a fingertip and an object surface, imbalance of grasping forces, and so on. Those errors are getting bigger according to the task progress, and it is finally difficult to recover those errors due to a limitation of hand's work space and so on. We therefore propose some adaptive adjustment methods that can change an grasping point or intermediate posture of a grasping object so that it could continue to manipulate an object against larger errors. We investigate the allowable error range of the proposed methods in numerical simulations and confirm its reality by experiment.

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The maintenance manipulator for the experimental fusion reactor has long vertical and horizontal telescopic booms to access the neutral beam injector of the fusion reactor. Due to this boom structure, the vibration and deflection of the manipulator are the critical issues for the accurate operation. A real-time simulation system was constructed to evaluate the maneuverability of the manipulator under these vibration and deflection. In this simulation system, the dynamic behavior of the flexible manipulator is calculated synchronized with the real-time control input of the human operator. A vibration and position compensation method was adapted to improve the maneuverability. Through the evaluation using the real-time simulation system, it was verified that the manipulator is maneuverable by using vibration and position compensation.

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A quantitative measurement method for two dimensional thickness distribution of molecularly thin lubricant films on magnetic disks is presented. Visualization of a molecularly thin film is an extremely useful technique for the investigation of replenishment and retention of thin lubricant films. We demonstrated ellipsometric microscopy using a white light source could provide improvement of signal to noise ratio of images in our previous works. However, measurement of absolute thickness of films has not been established, although the relative thickness can be obtained by intensity of images. In this report, method for measuring the absolute thickness of films has been presented. In this method, by using the relationship between the polarizer angle and the film thickness, the thickness measurement with a sub nm accuracy has been demonstrated.

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The mine detection hexapod robot COMET-III is driven by hydraulic power. Because of the strong nonlinear characteristic of the oil pressure system, conventional classic methods produce the flattery delay to the target orbit. In the unknown environment of minefield, the robot leg must follow correctly the walking orbit. The sliding mode control has strong robustness to parameter change or disturbance, and the preview control prevents the flattery delay by using a future target value. In this paper, we design a preview sliding mode controller, which incorporate the advantages of both control theory, and so improves control performance.

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This paper deals with an aerial posture control problem of a 3-link free-flying robot with nonzero initial angular momentum. First, the law of conservation of angular momentum is shown, and a state equation based on two angular velocity inputs is derived for a 3-link free-flying robot. Next, the control strategy which consists of two steps is proposed. The first step of the strategy is to control two joint angles and the second step of the strategy is to control three angles by feedback controller under the inphase constraint of the joint angles. In particular, the feedback control law of the second step is derived by the backstepping technique which guarantees Lyapunov stability by time-varying gains. Finally, simulation results are presented to show validity of the proposed control strategy.

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Sensor-based navigation is one of the most important researches for mobile robots domain and there are many research works for sensor-based navigation. We have proposed the insects inspired landmark navigation to pinpoint the target position. Three landmarks are used for our previous navigation method by using 3D blimp-type flying robot and navigation undertakes successfully though, it is revealed that to stay at one point is difficult and trajectory is not efficient. To overcome these issues, new navigation method is proposed in this paper. Two landmarks are used and changes of landmark size are applied to control the 3D blimp-type flying robot. Experimental result shows the new navigation method works out very well.

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This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

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We have developed a technique for estimating 3D motion of knee prosthesis from its 2D perspective projections. Our primary studies of computer model simulation and experiments on the CCD images of prosthesis demonstrated sufficient accuracies of position/orientation estimation for knee prosthesis. Then we changed over our project from the basic analyses and experiments to the countermeasurements against various problems which could possibly happen at clinical application. Among them, the following problems and their solutions are stated in this paper : Miss estimation for an orientations of a tibial compartment due to its symmetry-like shape, effects of image quality on the estimation accuracies. It is also ahown an idea how to improve the estimation accuracy of translation along the direction perpendicular to the image plane.

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In this paper, we propose lane marker extraction method using stereovision system and active contour model. It was difficult to entimate 3-dimensional position of lane marker for the most conventional method when the vehicle movement changes the direction of onboard camers, because it was based on the monocular camera. So, we solved this problem using stereovision system. In this method, lane marker is emphasized using geometry of road surface given by the sterevision system, and is robustly extracted using active contour model. It was confirmed that proposed method could extract lane marker by 99.2% or high probalility from long time running examination on a highway.

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Many traffic accidents occur at intersections and in their vicinity. The main cause of such accidents is the driver's failure to make safety confirmations, such as driving without keeping their eyes on the road ahead or driving while absorbed in thought. Therefore, the development of driver support systems, such as a system that determines whether safety confirmation is sufficient and alerts the driver if it is not, are useful to prevent intersection accidents. In this paper, a determination method is proposed for the development of such a system. At first, a driving simulator is set up with a course that includes intersections with good visibility and blind intersections surrounded by buildings. The test subjects run the course repeatedly and the vehicle's behavior, the driver's behavior, their gaze angles, etc., are measured. The driving behavior in these situations is analyzed and the characteristics extracted and accumulated. Secondly, a determination method is constructed based on the analyzed results and the accumulated characteristics. This method calculates symbols for gaze angles like right, left, right to left, etc., using SOM (Self-Organized Map) and determines safety confimation insufficiency based on the time series of the symbols. Finally, the usefulness of the proposed method is demonstrated using the experimental results derived from the driving simulator.

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We investigated drivers' braking behavior when the preceding vehicle unexpectedly brakes, and evaluated the effectiveness of forward vehicle collision warning signals during the use of adaptive cruise control systems. Then, we analyzed the toral error frequency of the man-machine system with consideration of driver's over dependence on the warning signals. Finally, we calculated and evaluated the effectiveness of forward vehicle collision warning signals using this model. In the study, the increase of driver's braking latency or collosion frequency to the preceding vehicle generated by the over dependence on the warning signals was observed. Even though the increase of driver's error frequency was observed, it was revealed that the total error frequency decreased to 1/500 when the warning signals were presented, compared to when they were not given, at a slpeepiness level is high.

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In the past, the vibration properties of human bodies were understood through the vibration experiments. In the vibration measurement accelerometers have been widely used, which were fixed on the skin surface. It was recognized that the measured data is affected by the vibration of the local tissue-sensor system where the accelerometer is fixed. This paper presents a new correction method of this local vibration. A single degree-of-freedom linear model for the local tissue-sensor system is assumed. The mass, spring, damper of the local system are estimated by measuring the vibration trasmissibilities in two conditions. The correction is carried out by these parameters. It is found that the proposed approach is easier than the existing approach.

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In recent years, single cell experiment has become very important for investigating unknown cell properties. We developed a novel technique to investigate individual cell properties on a chip using newly developed cell fixation method by the photo-crosslinkable resin. We propose three different fixation methods, that is, direct fixation method, caging method, and direct fixation with position control method. The isolated cell is fixed in the cured resin directly or inside the cage of the cured resin. The laser tweezers is employed to manipulate the target cell indirectly by using the laser trapped droplet of the resin as a microtool. The cell is positioned properly by the laser tweezers and is fixed in the cured resin. We tested the mercury lamp as well as the He Cd laser for UV ray irradiation at the local area. The fixation force of the resin is strong enough to stay with the drag force by the microchannel flow at the speed more than 466 mm/s. In experiment, we confirmed the single cell fixation by the proposed fixation methods. Then, we succeeded in a series of reaction experiments, such as culture and fluorescent reaction on a chip.

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A new optical measuring method of cutting edge profiles with a few nanometerresolutions for micro milling tool is proposed. The edge profile is scaled by the width between the first order maxima in a diffraction pattern, which relates to the spacing of a slit-type aperture formed between a reference knife-edge and a tool cutting-edge. The technique is applicable for on-machine measurement due to simplicity and long working distance of the optical system. In this paper, first, the theoretical analysis reveals the measurement resolution, and then the proposal of laser diffraction gauge method is mentioned. Next, the calibratability and the practicability of our technique are affirmed with fundamental experiments. Furthermore, experimental verifications are carried out for commercial tools such as straight-flute and helical flute of micro endmills. Subsequently, excellent agreement of the profiles, which are measured with our developed experimental systems, with an image from scanning ion microscope verifies that the proposed method is efficient to accurately measure cutting-edge profiles.

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A small, low-loss, easy-to-assemble mechanical-optical switch was developed. A series of trial productions of the switch were made and tested experimentally. These tests showed that the switch's insertion loss is 0.4 dB on average which varied less than 0.1 dB during a 10, 000, 000 cycles switching test and its return loss is greater than 45 dB. Moreover, the switch assembly process is suitable for mass production. It is concluded from these tests that the switch. will be highly reliable in optical transmitting and testing applications.

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For gears with small amount of profile and lead crowning modification, failures due to contact of tip edge and tooth side edge become of problem. In previous reports, chipping of tooth side edge, pitting of surface contacting with side edge of mating tooth and the tooth breakage caused by those failures were investigated. It was clarified that high contact pressure, high stress and the slipping due to Hertzian elastic deformation near tooth side edge, are considered to be major reasons of those failures. In this report, the influence of shape of chamfer of tooth side edge on contact stress condition near contacting tooth side edge is investigated by FEM. Contact pressure near side edge becomes higher if the amount of chamfer is increased. Higher stress at tooth side edge is induced by increasing the amoust of cut chamfer, but it is not true for corner rounding. Those features correspond reasonably to the result of endurance test reported in previous reports. Partial corner rounding composed by radius and amount of chamfer could has an effect to improve the contact stress condition near side edge of tooth. Smaller difference in tooth width of mating gears makes contact pressure and stress condition near side edge lower.

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Under heavy loading, lower boundary of contacting area on tooth flank of gears with small amount of profile modification can be trochoidally interfered by tip edge of mating tooth, because of large tooth deformation. Pits appear in that interfered area and can cause large surface failures like spalling or flaking. In this report, failures due to trochoidal interference are investigated in detail : Plastic flow and wear of tooth flank of several micron meters are observe in the interference zone in dedendum. The damage is clearer near tooth root of driving gear, compared with that of driven one. On the other hand, interfering tip edge is not damaged severely. Corner rounding of tip edge softens the failure condition due to trochoidal interference but the effect is limited. Simulation method for contacting state of helical gear teeth with tooth form modification considering trochoidal interference is developed.

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In this research, three steps were taken to reach the conclusion. At first, the influence of the anisotropy of the FRP material, difference of module and gear materials on the strength of tooth root was examined. And, the effect of fracture characteristics and fiber orientation of the gear made of laminated material on the strength is examined by the experiment. Second, until now, this research examines the method of making bending strength equation for isotropic materials such as the metal adjust to FRP gear. Finally, when the gear is used actually, the life of FRP gear is required. The fatigue test is performed in order to understand the life of FRP gear. In conclusion, this research is to establish the way of constructing a design technique for calculating fatigue strength on FRP gears. In this paper the process of calculating fatigue strength is shown.

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A piston of swash plate type of axial piston pump and motor, rotates as well as reciprocates in a cylinder, and uneven contact may easily occur in the sliding part between them due to oblique reaction force against the cylinder axis, The effects of annular grooves at both ends of cylinder and piston top on the friction characteristics have been investigated from viewpoint of the stiffness of the sliding part ends for the cylinder and the piston top, following the previous paper. It is clarified that the annular groove of the cylinder end affects the friction characteristics more greatly than that of the piston top in the case of the annular groove depth of 5 mm. There is an optimized depth of the annular groove for the decreased friction force when the annular groove is installed at either the cylinder end or the piston top.

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In order to meet the demands for high machining accuracy and high machining productivity, it has been increasing to apply aerostatic spindle systems for ultraprecision machine tools. An aerostatic spindle generates a large amount of heat at high speed rotation, which causes thermal deformation of the spindle system. In this study, in order to establish the practical method for minimizing the thermal deformation of aerostatic spindle system, a cooling method of the spindle system is investigated using temperature controlled supply air. By controlling the temperature of supply air to keep exhaust air at a constant temperature, its cooling amount effectively cancels out the heat generated at bearing clearance. Through a series of experiments, it has been proved that the proposed method can restrain the temperature rise and the thermal deformation of system structures.

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As higher precision machining is required, reducing thermal deformation of a machine tool becomes more important. On the other hand, it is also necessary to save energy for the earth and people. Therefore, we developed a new lathe with environmetal preservation countermeasure. In this report, the new design of lathe structure for reducing thermal deformation has been experimentally investigated. Concepts of these designs are a suitable cost of machine tool, low running cost, low maintenance cost and high precision machining. Three countermeasures which are a design of zero-center on three directions, a self forced cooling technology and a three-layers structure using thermal insulation unit were proposed for reducing thermal deformation. The developed lathe was evaluated in experiment. It is concluded from the results that thermal deformation of the lathe with these countermeasures was smaller than that of a conventional lathe. In addition, these countermeasures don't use forced cooling system and reduce energy and oil for working its.

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In this paper we study a new estimation method for the maximum production rate in a high quality relay production system and an optimum operation method yieling the production rate. A relay is generally composed of two main parts (Base and Armature) with machining errors occurred in machining processes, so a 'Matching method' must be applied to the system to produce high quality relays. In the 'Matching method' one part is reprocessed using a tool selected according to an assembling error to reduce the assembling error, but the correct tool can not always be selected because the assembling error, which is calculated by machining errors, contains measuring errors. Measuring errors are occurred in measuring processes of machining errors. At first, we propose the estimation method for the maximum production rate and the optimum operation method under two conditions that tools are already set and that tools are not set yet. Next, the effects of machining and measuring accuracies on the maximum production rate and the optimum operation method are investigated. Results show that the proposed method can estimate the maximum production rate and the optimum operation method and that the machining and measuring accuracies both affect the production rate and the operation method.

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This paper deals with a real time scheduling system of HMS (Holonic Manufacturing System). A decision making process based on the effectiveness values have been proposed and applied to the real-time scheduling problems of the HMS in the previous report. New systematic methods for the individual holons are proposed, in the paper, to determine the effectiveness values based on the estimation of the future HMS status, aiming at improving the previous methods. Simulation based procedures are newly developed and implemented to estimate the future HMS status and to determine the effectiveness values. The effectiveness of the proposed methods are verified through the case studies.

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