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四輪独立駆動型全方向移動ロボットの運動学と走行特性

藤沢正一郎, 大久保慶治, 師玉康成, 山浦弘夫

日本機械学会論文集 C編
1996年 62 巻 604 号 4573-4579
発行日: 1996/12/25
公開日: 2008/02/26

DOI https://doi.org/10.1299/kikaic.62.4573

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An omnidirectional vehicle (ODV), which can move in any direction without changing its body direction, was investigated. The principal driving motion involves four wheels equipped with rollers on their circumference. These rollers rotate along the axle direction of the wheels. The wheels are installed on all four sides of the vehicle. Moving properties of this vehicle were investigated through computer simulations and experiments. The simulation tests confirmed that the ODV can move to arbitrary places in arbitrary directions. Spinning motions and turning motions are also possible in addition to the omnidirectional motion. A variety of movements were examined in the ODV experiments. To analyze these results, an omnidirectional robot (ODR) called "calligraphy robot" was constructed, which drew a cursive style Chinese character with a writing brush on a sheet of Japanese writing paper. Movements and control of the ODR were evaluated, and satisfactory movement and control performances were confirmed.
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沖縄トラフの地形・地質・熱水活動

木村政昭

地球化学
1988年 22 巻 1 号 65-74
発行日: 1988/06/30
公開日: 2016/12/01

DOI https://doi.org/10.14934/chikyukagaku.22.65

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軌道上組立作業ロボット用エンドエフェクタの開発

西田信一郎, 吉川恒夫

日本航空宇宙学会論文集
2005年 53 巻 614 号 130-138
発行日: 2005年
公開日: 2005/05/20

DOI https://doi.org/10.2322/jjsass.53.130

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We are studying next generation space robot technology for on-orbit assembling of large space structure. A new space robot end-effecter suitable to on-orbit structure assembling was designed and its prototype model was developed and tested. This paper describes the required function, performance for space robot end-effecter, new mechanism design and testing results of prototype model.
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弾性支持された円柱群まわりの流れに及ぼす円柱間隔比の影響 : 第2報, 並列3列配置

岡本史紀, 中村友道, 楢林利之, 山村敏之, 愛知雅彦

日本機械学会論文集 B編
1996年 62 巻 598 号 2121-2129
発行日: 1996/06/25
公開日: 2008/03/28

DOI https://doi.org/10.1299/kikaib.62.2121

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In this paper we describe the effect of spacing between two adjoining circular cylinders on flow around three rows of two-dimensional circular cylinder bundles supported by wires. The experiment was carried out in an N.P.L. blow-down-type wind tunnel with a working section of 500mm×500mm / 2000mm and with the Reynolds number of 9.4×10³. The frequency of shedding vortices from the circular cylinder, displacement of the vibrating circular cylinder, and the time mean and fluctuating surface pressure distributions on the circular cylinder were measured. And the results were compared with those for the case of fixed support. Consequently it was found that (i) shedding vortices from circular cylinders exist in the range of spacing ratio S/D≥3 for the first row, S/D≥2.3 for the second row and S/D≥2.0 for the third row, (ii) the fluid elastic vibration occurs in the range of S/D<2.O for the first row and S/D<2.3 for the second row, though it does not occur for the third row, and (iii) the variation of fluctuating drag coefficient and fluctuating lift coefficient corresponds to that of displacement of a vibrating cylinder.
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弾性支持された円柱群まわりの流れに及ぼす円柱間隔比の影響 : 第1報, 並列1列配置

岡本史紀, 中村友道, 椎名正樹, 楢林利之, 山村敏之

日本機械学会論文集 B編
1996年 62 巻 598 号 2113-2120
発行日: 1996/06/25
公開日: 2008/03/28

DOI https://doi.org/10.1299/kikaib.62.2113

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This paper describes the effect of the spacing between two adjoining circular cylinders on the flow around two-dimensional circular cylinders supported by wires. The experiment was carried out in an N.P.L. blow-down unit wind tunnel with a working section of 500×500×2000mm, at the Reynolds number 9.4×10³. The frequency of vortex shedding from the circular cylinder, displacement of the vibrating circular cylinder, and the time-mean and fluctuating surface pressure distributions on the circular cylinder were measured. The present results were compared with those for the case of fixed support Vortex shedding from circular cylinders occurs in the range of spacing ratio S/D≥2.3. The variations of Strouhal number, displacement, surface pressure distributions, drag coefficient, lift coefficient, fluctuating drag coefficient and fluctuating lift coefficient with the spacing ratio were obtained.
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海底地震観測による1987年6月の福島沖の地震活動

西澤あずさ, 富田尚志, 金澤敏彦, 岩崎貴哉, 島村英紀, 平田直

地震　第2輯
1990年 43 巻 3 号 403-411
発行日: 1990/09/24
公開日: 2010/03/09

DOI https://doi.org/10.4294/zisin1948.43.3_403

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The region off Fukushima Prefecture is characterized by high seismic activity. On Feb. 2, 1987, M6.4 and M6.7 earthquakes occurred there sequentially. Thereafter six earthquakes with M≥5 took place from Feb. to Apr., 1987 in this region. On June 10, we deployed five ocean bottom seismometers (OBS) to estimate focal depths accurately and to investigate the nature of the seismic activity. During the observation period (18 days) we obtained high quality seismic data from four of the OBSs, including an M5.7 earthquake and its aftershocks. We determined 289 hypocenter locations with accuracy, especially using by high quality S wave data.
Almost all the earthquakes occurred in the region where the water depths were less than 2km and the region was more than 100km landward from the trench axis. The hypocenter distribution in a profile perpendicular to the trench axis shows a clear dipping plane corresponding to the boundary between the landward Eurasian plate and the subducting Pacific plate. We also observed twoearthquakes which took place at the lower plane of the double seismic zone and confirmed that the lower plane seismic activity existed at about 110km landward from the trench axis.
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弾性支持された円柱の流体力学的振動に関する研究

白樫正高, 上野真司, 石田康弘, 脇屋正一

日本機械学会論文集 B編
1983年 49 巻 446 号 2102-2110
発行日: 1983/10/25
公開日: 2008/03/28

DOI https://doi.org/10.1299/kikaib.49.2102

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固定円柱からのカルマン渦発生に及ばす円柱傾斜角の影響を調べついで流れに垂直方向に運動する弾性支持円柱の振動と渦発生の関係を調べた.円柱は低流速で並行振動するが高流速ではさらに横揺れ形の回転振動が生ずる.これらの振動数は流速によらずそれぞれの固有振動数に等しい.並行振動数については渦周波数と固有振動数の比が1および2.6のとき共振現象が生じたが,回転運動ではこの比が2.8のときにのみ共振が見られた.
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モンテカルロ法を用いたドラム式洗濯乾燥機の脱水起動シミュレータ

上甲康之, 黒澤真理, 高橋幸太郎

日本機械学会論文集
2017年 83 巻 856 号 17-00140
発行日: 2017年
公開日: 2017/12/25
[早期公開] 公開日: 2017/11/28

DOI https://doi.org/10.1299/transjsme.17-00140

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This paper verifies the validity of the prediction model of clothes behavior by using random number. Outer tub of a front-loading washer-dryer is supported by the vibration isolation structure because the imbalance of clothes inside the drum causes vibration in dehydration. The imbalance beyond an acceptable level is modified by the dehydration control system to reduce the vibration. However, the modification of imbalance causes an extension of operation time. Therefore, it is important to estimate the numbers of modification in initial design stage in order to reduce vibration and operation time. In this study, dehydration simulator was proposed to estimate the numbers of modification using Monte Carlo approach. This simulator consists of three steps; the first step is to generate random numbers following the probability distribution of clothes behaviour obtained by experiment, the second step is to count the random numbers beyond threshold as the numbers of modification, and the third step is to repeat previous steps and to obtain the average number of modification. As a result, the maximum absolute difference of the average number of modification between experiment and prediction was 1.6 times. In addition, the relationship between the threshold and the average number of modification requires about 80 days to be obtained in experiment, but it is shown that the relationship was predicted within a day in proposal method. These results would provide the validity of the proposed approach.

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ドラム式洗濯乾燥機における防振構造の多目的最適化

上甲康之, 黒澤真理, 会田修司, 高橋幸太郎

日本機械学会論文集
2016年 82 巻 837 号 15-00609
発行日: 2016年
公開日: 2016/05/25
[早期公開] 公開日: 2016/02/29

DOI https://doi.org/10.1299/transjsme.15-00609

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Outer tub of a front-loading washer-dryer supported by the vibration isolation structure is vibrated by imbalance of clothes inside the drum. In dehydration, it is required to reduce the vibration of the outer tub by the multiple countermeasures because drum rotational speed revs up and passes through the multiple resonances. In this study, a multi-objective optimum design approach was proposed to reduce vibration considering cloth mass, and also to reduce mass of the anti-vibration-weight bolted on the outer tub. This approach consists of three steps; the first part is to narrow the search range by an analysis of influence, the second is to obtain a response surface, and the third is to search for Pareto set by the response surface in detail. As a result, Pareto set, which consist of the location and mass of anti-vibration-weight to reduce vibration of two modes considering cloth, was obtained. This result would provide the validity of the proposed approach.
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日本列島周辺の海底地殻構造

地殻構造から見た海溝-島弧-背弧系

日野亮太

地学雑誌
1991年 100 巻 4 号 583-595
発行日: 1991/08/25
公開日: 2010/11/18

DOI https://doi.org/10.5026/jgeography.100.583

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The results of the recent seismic refraction surveys using an Ocean Bottom Seismograph (OBS) array have clarified fine crustal structures of the trench=island-arc= back-arc systems around the Japan Islands, namely the Kurile, the Northeastern Japan, the Southwestern Japan, the Izu-Ogasawara and the Ryukyu. The present paper tries to look over theseismic velocity structures of the crust and of the uppermost mantle beneath the trenches, the island arcs and the back-arc basins revealed by the OBS studies in the last decade.
New OBS data have shown regional variations in the crustal structures of the subduction zones. The crustal structures around trenches vary not only from a trench to another but also along one trench. The dip angle of a subducting oceanic lithosphere, the spatial extent of an accretionary prism and the shallow structure of a continental slope characterize each subduction zone and are deeply related to its tectonic evolution. Interesting similarity and dissimilarity are found between the structures of the Bonin Trough, a intra-arc rift, and of the Okinawa Trough, a back-arc rift, providing a clue to understanding of the mechanism of the rifting in the island-arc crust. We also note the crustal structure of the Yamato Basin, a part of the Sea of Japan (an inactive back-arc basin), a curious structure in which the crust has a composition similar to the normal oceanic crust but has a twice thickness.
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海底地震観測の最近の進展

—海底地震観測システムと海底における自然地震観測の進展について—

金沢敏彦, 篠原雅尚, 塩原肇

地震　第2輯
2009年 61 巻 Supplement 号 55-68
発行日: 2009/07/31
公開日: 2013/11/21

DOI https://doi.org/10.4294/zisin.61.55

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This paper reviews on recent progress in seafloor earthquake observations and instruments in Japan. Ocean bottom seismometers (OBS) have improved into a 24-bits digital OBS. Great strides were made in the 2000’s. The research of the earth’s interior from the ocean has been progressed rapidly by utilizing the data from the ocean borehole observatory and the broadband OBS array. Large scale array observations with the use of the long term OBS have imaged earthquake activities in a space-time domain in and around large asperities along Kuril Trench, Japan Trench, and Nankai Trough. A seafloor earthquake monitoring also has been evolving into a new generation for a two-dimensional dense network.
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