計測と制御
Online ISSN : 1883-8170
Print ISSN : 0453-4662
ISSN-L : 0453-4662
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51 巻, 10 号
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特集　ライフエンジニアリングにおける計測と制御
巻頭言
総論
解説
リレー解説　社会を支え，暮らしに息づく「制御」
総合論文
  • 仮想物体を変形・破壊する力覚表示システムの研究
    本間 達, 若松 秀俊
    2012 年 51 巻 10 号 p. 968-982
    発行日: 2012/10/10
    公開日: 2020/04/23
    DOIhttps://doi.org/10.11499/sicejl.51.968
    ジャーナル フリー
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    The methods based on visual reality have been mostly proposed for the virtual recognition of physical phenomena, including some other methods by various sensitive abilities of their information processing. Taking into account the importance of force display systems, we summarize historical developments concerning their methods and theories during last twenty years, where we well confirmed them as if they felt using actual tools and objects on attendance to the reality. These systems provide virtual environments of the reality involving various forces synchronizing with the visual sense of operators. As the deformations inclusive of destructions of objects are particularly important for representation of their transitional or dynamic states, in which a simplified mathematical model consisting of elasticity, viscosity and plasticity based on Kelvin-Voigt model is explained and properly applied as a unification of their calculation of various forces in a real time operation. Meanwhile, cutting tools are classified into three types such as knife-type, scissors-type and saw-type ones depending on their cutting mechanisms. They are applied to the control of virtual tools in three types of force display systems with the theoretical equations to represent the cutting forces and moments. Finally, these individually developed systems are integrated into a single system with our proposed virtual materials, which make operators have different cutting feeling resulted from their dynamical mechanisms. Then, a new prospect is given to calculate the cutting moments based on the interactions between the virtually synthesized cutting tools and materials. The present review shows the way that a unified virtual workspace is build to simulate more realistic experience with different physical phenomena of solids, liquids, and gasses.

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リレー記事　「世界が舞台のSICE研究者・技術者～日本から世界へ，世界から日本へ」
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