[in Japanese]

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A considerable amount of resources, such as secondhand products and scrap metal, is traded among Asian countries. Such circulation should be transformed to sustainable circulation that satisfies the conditions of environmental soundness. In this study, we create various scenarios based on the idea of life cycle simulation, and then simulate them. This study aims to clarify conditions for the sustainable circulation through the simulation. As a case example, we show the circulation of a personal computer between Japan and China.

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As the service sector in economy grows, an evaluation method for service design that increases efficiencies is needed. A service should be evaluated by the viewpoint of service receiver, because it has characteristics such as simultaneous production and consumption. Until now, authors proposed an evaluation function to estimate to what extend a requirement of a service receiver is satisfied. The function is decided by the deseigner using data about the receiver's expectation and quality of the service. In this report, we classify receivers' requirements in two: service oriented and product oriented. Then, we analyse relationship between each classes of requirements and related functions.

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We consider the lookahead control of a conveyor-serviced production station (CSPS) system according to the model of semi-Markov decision process (SMDP), and aim to find an optimal state-dependent sequential range policy (SDSRP) under either average- or discounted-cost criteria. To overcome the curse of modeling, we propose a potential-based rollout algorithm, which is model-free, and can be implemented on line easily through observing the operation of a practical CSPS system. At each iteration, potentials of the current base policy are estimated through temporal difference (TD) learning, by using a number of coherent observed sub-paths. In addition, to learn the Q-factors associated with this base policy, a perturbation is introduced randomly to the original control variable at the beginning state of each episodic sub-path. By analyzing and utilizing historic information of all the past running, the learning of Q-factors is improved, and each stochastic perturbation can be directed effectively. A new base policy is then derived through minimizing some relatively well-learned Q-factors. Some simulation results shows that, compared with Q-learning approaches, the supposed rollout algorithm tends to be statistically more stable during optimizing a real-time running system, so it can be implemented on line more robustly in CSPS systems.

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[in Japanese]

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Integrating copper with low-dielectric constant (low-k) structure for interconnection has become increasingly more important due to increasing demand for light, thin, short, and compact sized electronic devices. First, surface treatment methods to improve the adhesion between the parylene-C and other materials including Si and Ta barrier layer were investigated. Then, the hot-embossing condition to replicate the micro patterns with 25 μm depth and 10 μm line-and-spacing was investigated. Finally, the micro-scale gaps in the embossed parylene-C film were electroplated with Cu, and the back side of electroplated Cu was planarized to the level of the top of the parylene-C layer by a chemical mechanical planarization (CMP) process. As a result, we could successfully form micro-scale gap-filled copper lines with the aspect ratio of 2.5 in parylene-C film.

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We developed a new replication technology that combined the thermal micro- / nanoimprint technology with the ultrasonic vibration. The filling in the mold pattern of the softened plastic was assisted by the ultrasonic vibration of the longitudinal wave with the maximum amplitude 1.8 um. In the micro field, it was confirmed that the residual gas and air in the pattern were removed by the ultrasonic vibration, and the flow of the plastic to the center part of the mold pattern was promoted. In the nano field, it succeeded in molding the polycarbonate at 160 °C whose as many as 20 °C is lower than the thermal nanoimprint.

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[in Japanese]

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Chips are often intervened between the spindle and the toolholder in ATC with taper and face fitting system. In this study, the objective is short-time detecting for the intervention of chips. Therefore, it is proposed to mount the displacement sensor on the spindle housing. And the measuring method is investigated to detect the intervention of chips precisely. Then, the signal processing method is considered for automatic detection.

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Titanium alloy is difficult-to-cut material because tool life is very short in case of machining it. The purpose of this study is to find out effective parameters for monitoring of cutting process to achieve highly efficient end-milling of titanium alloy. Cutting tests were carried out to observe chips stuck to cutting edge and to measure width of tool wear land and dynamic cutting forces with increase in cutting speed and cutting length. As a result, it was revealed that width of flank wear land and its rate of increase could be related with length of deposited chips stuck on cutting edge and extremes of dynamic cutting forces.

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In recent years, machining center has been used widely in metal mold manufacturing process because high speed machining by using a small diameter end-mill has been put into practical use. However, in cutting process with an end mill that is a low rigidity, it is important to estimate the machining error caused by deflection of tool. The purpose of this study is to establish a method of in real time estimating machining errors caused by deflection of end-mill. For this purpose, the growth mechanism of machining errors caused by deflection in straight end-mill was investigated by comparing estimated value of deflection of tool using cutting force with each measured value of deflection of tool and machining error in detail.

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The tool breaking during cutting with a small-diameter end mill is still problematic in the field of production. This report presents a monitoring technique for the in-process measurement of cutting force and the prediction of tool breakage. This technique is based on the newly developed visualization system with a high-speed CCD camera. The system to monitor the tool behavior from the X axial and Y axial is constructed with two CCD cameras. As a result, this system makes it possible to measure the tool behavior and to predict the cutting force in-process. It is useful in monitoring the cutting state during high speed milling with the small-diameter tool.

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[in Japanese]

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We have developed a compound-eye camera for a small and thin camera module. The camera realizes the motion detection from a single frame image using a multi-lens optical system and a CMOS image sensor. Furthermore, we propose a wide angle camera by adding prisms to the optical system.

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Recently, many accidents arises from the overlap with human action range and machines actuation region. In order to operate machines safely in the overlaps, we need time and space sensor for safe. The sensor detect existence and movement of intruder. Then, the purpose of the research is to develop simple,low-cost and applying to wide region sensor. In this paper, the following are reported:1)The detection technique using projection pattern and photographing image, 2)The outline of experiment arrangement, 3)The result of detection experiment.

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This paper describes the exprimental result about 3-D measurement of architectural structure using geometrical invariants.An affine invariant and a projected invariant are used as geometrical invariants.The measurement space is sandwiched by two planes which consist of eight points. The eight points are called reference points. The experiment is performed using affine invariants and projected invariants.The conclusion of the experiment illustrates that by using projective invariants is more lower error ratio than by using affine invariants when the object has deep depth.But when the location of stereo camera is a good distance from the object, the error ratio became lower than by using projective invariants.

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Firefly Capturing Camera(FCC) is a sigle camera for sensing 3D position of a light moving in 3D space in real time. In this paper we investigate the athelete performance such as hummer throw by analysing the locus of motion of LED attached on the athelete.

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[in Japanese]

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In this paper, a motion planning for sheet metal bending by a dual manipulator robot is proposed. This approach is composed of the collsion-free path planning and regrasping position planning. In the path planning, probabilistic roadmap method is used. And in the regrasping position planning, the position is decided by an evaluation considering feasibility of the next motion. The result of verification in simulation is shown.

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