ゼフィラミン存在下でのクロムアズロールS(CAS)によるベリリウムの吸光光度定量において,吸光度は陰イオン濃度の増加とともに減少する.そして,見掛けの錯体生成反応の平衡定数K_appの値は,陰イオン濃度の増加とともに減少する.しかし,pH5～5.7では,吸光度は陰イオン濃度の増加とともに増加し,約0.15 mol dm^-3以上でほぼ一定となった.これは,吸光度に対するベリリウム(II)の加水分解による負の影響であるが,陰イオンの添加によりその影響が相殺されたものと考えられる.このように,見掛けの錯体の生成反応に陰イオンが大きな影響を及ぼすのは,CASの見掛けの酸解離定数K_a3'の値が,陰イオン濃度の増加とともに減少するためと考えられる.0.15 mol dm^-3以上の陰イオンの存在下で,K_appの値は塩化物>硫酸塩,K_a3'の値は硫酸塩>塩化物,錯体の吸光度は塩化物>硫酸塩の順であった.ベリリウム定量の際は,共存陰イオンの種類と濃度は,ほぼ等しくする必要がある.

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The characteristics of floor reaction forces are investigated using two large force plates in the three phases of human gait, that is, initiation, stopping and turning, The time histories of the point of application and the center of the body mass in gait initiation and stopping are obtained. In gait initiation, the phenomena of inverse fluctuation are noticed not only in the point of application, but in the floor reaction forces as well. It becomes clear experimentally that inverse fluctuations occur when a person initiates walking. The following results are also described: gait stopping is roughly similar to the time-reverse motion of the gait initiation; gait turning is the continuous motion of gait stopping and gait initiation.

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同時正逆抽出法を用いてアルカリ溶液から重金属の回収を効果的に行うためには,逆抽出条件が大きく影響する.そこで逆抽出条件の中でも重要な逆抽出速度とかき混ぜの効果について検討した.逆抽出にはCu(II),Mn(II),Ni(II)のPANによる金属錯体を用いた.逆抽出剤はEDTA及びHNO₃を使用した.反応速度は高速かき混ぜにより界面積を増大させると増加した.それによる反応速度の増大分を界面の寄与分とした.本報では反応速度をバルクと界面の寄与分に分けて考え,バルクの速度定数,界面の条件速度定数,界面の寄与分を求めた.バルクの速度定数はEDTAによる置換速度定数が銅,マンガンそれぞれ3.7×10³,5.2M^-1s^-1で,HNO₃による解離速度定数が銅,マンガン,ニッケルそれぞれ4.5×10²,5.2×10³,2.9×10^-1M^-1s^-1であった.又,界面の寄与分はEDTAよりHNO₃のほうが大きかった.

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In tihis paper, we propose the robots system equipped with three robots, and examined the establishment of the extendibility of the group actions. The formational action in the robots arrangement that line up behind each other was examined by using this robots system.

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The supersonic jet is used on engineering devices and is one of the fundamental problems of the compressible fluid dynamics, and causes the various problems of the aeronautical and other engineering, such as: the design of a rocket: launcher system. It seems that the characteristic of supersonic jets is necessary to control the engineering devices, but the effect of nozzle diameter does not conducted in past papers. This paper aims to clarify the effect of nozzle diameter for characteristic of supersonic jets by the numerical analysis.

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The interaction between the supersonic jet and an obstacle is one of the fundamental problems of the compressible fluid dynamics, and causes the various problems of the aeronautical and other engineering, such as the design of a rocket launcher system. It seems that the characteristic of the interaction between the rectangular jet and an obstacle is necessary to control the interacting jet, but it is not conducted in past papers for the characteristic of a rectangular jet. This paper aims to clarify the characteristics of the interaction between the rectangular jet and an obstacle by the experiment and the numerical analysis.

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There are some investigations about dynamic characteristics of articulated column in two dimensional regular wave. But the dynamic characteristics in the flow field where both uniform flow and two dimensional regular wave exist at the same time has not been investigated. We made an experiment and a calculation on dynamic characteristics of column where uniform flow and two dimensional regular wave are in progress in the same direction. On amplitude of oscillation, this calculation proved effective for a smaller period than resonance period. Moreover, this calculation proved effective qualitatively on stationary inclination where speed of running fluid of uniform flow is small.

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This paper describes the particle damper design, based on the analytical single mass damper model and experiments with smaller size steel balls. The effects of various system parameters - including mass ratio, particle size, cavity dimensions, intensity, and frequency of excitation - were investigated using a SDOF structure under harmonic force excitation when the vertical excitation is applied to the structure. The damper designs call for that the damped motions of the structure equipped with steel ball particle dampers become periodic as well as kept approximately equivalent as predictions by the analytical model. It is shown that the suitable size of steel ball and container dimensions were found to be selected for the combinations of mass ratio and excitation levels in the vicinity of the optimum range of system. Thus, the particle dampers with steel balls, with moderate mass ratios, can be very effective in attenuating the response of lightly damped structures.

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We produced the technique for recognition to gestured handwriting characters by the secure system equipped with a touch-sensitive panel on the front of a door, a gate, and so on. It proposes to employ the touch-sensive panel to acquire fingerprints, and to draw a secret word with the fingertip. This paper describes the pattern matching method to detect the position of the finger-tip at high speed.

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This paper presents a method for human-computer cooperative control of a mobile robot, where the system supports some cooperative action between manual and automatic modes. The proposed method uses variable gains which change the connection of dual modes. The robot is usually controlled by a computer using known information, but if it is necessary for human operator to adjust the motion of the robot, human operator can intervene in computer operation to reduce the speed of the robot and change the course of the motion by moving the joystick. The method, proven by some actual trials in a PWS mobile robot, realizes efficiencies in the operation of mobile robot with simplicities of commands and flexibility of human operator.

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