Country：Japan

Country：Japan

Publishing type：Research paper (scientific journal)   Kind of work：Single Work  

Publishing type：Research paper (scientific journal)   Kind of work：Single Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Single Work  

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

橋や建物の劣化に対処するために、建物の壁を検査するロボットHORNETを開発した。走行時間を延長するため、ローターの断面形状を、遺伝的アルゴリズムにリンクした2次元数値解析を使用して消費電力を削減する形に設計した。さらに、鳥を模した数種類のローターを製作し、電力消費を削減するための理想的な形状を決めるための実験を行った。さらに、ローターをHORNETに取り付けたときのシミュレーションモデル作成と性能評価実験を実施した。結果、HORNETに本研究で得た最良のローターを取り付けて走行時間が長くなることを示した。ロボット工学、流体力学、数値解析、機械学習に関連する。

DOI： 10.5226/jabmech.8.48

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

魚ロボットは、水棲生物にあまり警戒されないため、生態調査に適している。本研究では金魚を自動追跡する手のひらサイズの小型魚ロボットを開発した。ロボットによる生きた魚の自動追尾は、カメラで金魚を認識し、金魚に向かって泳ぐ方向を制御することで行う。金魚の機敏な動きに追尾するために、ロボットは2関節で作成して旋回能力を高くしている。実験の結果、このロボットが金魚を追尾できることを確認した。ロボット工学、メカトロニクス、制御工学、画像処理、電子情報学に関連する。

DOI： 10.5226/jabmech.8.69

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.7210/jrsj.37.514

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

鋼製ヨークとネオジム磁石で構成される駆動輪を左右に配置した橋梁検査ロボットを開発した。車輪が鋼板に接触すると、磁気回路を形成し、強い力を生成するため、ロボットは重い物体を搭載したまま移動できる。ただし、吸着力が強すぎて車輪が立体内側直角部でロボットは移動できなくなる。強い磁力を排除するため、ロボットに押し出し機構を装備した。このロボットが重量物を載せたまま立体直角部を含む様々な経路を走行できる能力があることを示した。ロボット工学、制御工学、電気工学、メカトロニクスに関連する。

DOI： 10.35840/2631-5106/4110

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

コンクリート橋や建物の壁を自由に移動するロボットHORNETを開発した。このロボットは、2つのローターで壁に沿って走行できる。ただし、プロペラの揚力で移動するロボットは、強風にさらされると壁から落下する可能性がある。本研究ではロボットにジャイロセンサを取り付けて、ロボットの姿勢を安定化させる操縦支援制御を構築した。結果、横風に対してHORNETの耐性が向上することが示された。ロボット工学、制御工学、メカトロニクスに関連する。

DOI： 10.20965/jrm.2018.p0416

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

橋梁の各箇所には、添接部と呼ばれるボルトが数多く並ぶ部分があり、橋梁検査ロボットには、立体直角路以外にも添接部を通過する能力も求められている。この研究では、ロボットは、スプライシング部分のボルトを避ける構造としてロボットを製作した。ロボットの性能実験を行い、ロボットが実際の橋の箱桁部の内側直角路を走破できることを示した。また、添接部を手動で制御することは非常に困難なため、カメラと高輝度発光ダイオードをロボットに取り付けて、自律制御系を構築し所定の結果を得た。ロボット工学、メカトロニクス、制御工学、通信技術、画像処理に関連する。

DOI： 10.3390/inventions2030022

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Many infrastructures such as bridges and tunnels had been constructed in various parts of Japan during the high economic growth period. They need periodic inspection because they are aging. Inspecting them by inspector is both costly and time-consuming. There is a strong demand for practical bridge inspection robots to reduce the costs and times. The inspection robot running autonomously on the bridge needs to determine moving route and to estimate self-position. The robot must have a three dimensional map of the bridge to take these actions. This paper proposes a method of making a three-dimensional occupancy grid map of the large scale infrastructure where the inspector cannot go easily such as an underside of the bridge. A bridge inspection robot equipped with magnets had been developed in present study. We attached a measuring device which consists of a small 2D laser range finder and a servo motor. Experiments were conducted to make the 3D map by using the robot. The robot climbed to target position on the wall without falling although it was equipped with the measuring device which is heavy. Moreover, the robot can make the 3D occupancy grid map and the map can be useful to inspect bridges.

DOI： 10.1299/transjsme.15-00443

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

2ビーム多点レーザードップラー速度計（2ビームMLDV）は、2次元血流の画像を提供できる非侵襲的可視化技術であり、癌を観察できる可能性がある。深度位置を選択できることが、2ビームMLDVの利点であり、この手法を使用して、血管の位置を3次元空間で特定できる。皮膚の血流速度を測定すると、2つのレーザービームの交差領域にスペックルパターンが形成される。生成されたスペックルパターンにより強度が増した信号により、2ビームMLDVは、皮膚の血流速度を測定できることが示された。計測工学、電子工学に関連する。

DOI： 10.1063/1.4961611

Publishing type：Research paper (scientific journal)   International / domestic magazine：International journal  

多くの流速計は、流体中に存在するトレーサー粒子の動きを追跡することにより、流体の速度を測定する。レーザードップラー速度計では、適切な密度と径のトレーサー粒子が測定対象の流体に加えるが、これは生体内測定では不可能です。そこで、赤血球をトレーサー粒子として使用した。マウスの耳の血管と蛇行流路にトレーサー粒子を加えた場合の流速分布測定の結果を比較し、動いている赤血球の速度が血液の速度と正確には一致しないことが示された。これは皮膚の下の縞模様の変化によるもので、赤血球速度データを調べる際に考慮すべきこととして示した。計測工学、電気情報学、流体力学に関連する。

DOI： 10.1002/tee.22262

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   International / domestic magazine：International journal  

日本の高度経済成長期には、社会インフラの建設が促進され、多数の橋や建物が増えたが、 現在、これらの橋や建物の壁は劣化しており、点検員が定期的に検査している。この人的検査のプロセスは費用と時間を要し、さらに点検員は落下等の危険にさらされている。本研究では、低コストで安全な検査を可能にするために、壁からの距離を保ちながら壁を安定して移動するロボットを開発し、このロボットの種々の特性を測定し、実用可能性を測定結果に基づいて評価した。ロボット工学、メカトロニクスに関連する。

DOI： 10.20965/jrm.2016.p0320

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Many structures such as bridges, buildings, tunnels and dams had been constructed during the high economic growth period in Japan. The deterioration of these structures has become a big social problem. The maintenance method which finds the minor damages on the structures is important for the life extension of many structures before the progress of deterioration advances. When the inspections become frequent, the huge cost is needed. Robots are said to be useful for the management and maintenance of many old structures because the conventional method will intensify the strains on economy. In this study, we have created a flying robot HORNET with tilt-rotors and two wheels. HORNET can move on a vertical wall keeping a constant distance between the robot and a wall. Then, it is very easy and safe to control the robot manually. In addition, the electric power consumption of HORNET can be smaller than hovering robot like drones because HORNET can hang on wall with claws of the wheels. We have examined the effects of the state of wall surface and the tilt angle of rotor surface on the electric power consumption of HORNET. According to the experimental results, it has been confirmed that the electric power consumption is reduced when the state of wall surface is rougher and the tilt angle of rotors is more parallel to the ground. It is possible to become a practicable wall inspection robot by adding the improvement to HORNET.

DOI： 10.1299/transjsme.15-00422

CiNii Article

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

生きた魚を調査するには、魚に追従する能力が必要になるため、推進システムの性能を改善する必要がある。本研究では、小型魚ロボット（SAPPA）を製作し、その推進性能、例えば、最大遊泳速度、回転半径、消費電力を測定した。また、SAPPAがCMOSカメラを使用して金魚を認識し、その画像を得ることを示すことができた。ロボット工学、メカトロニクス、画像処理に関連する。

DOI： 10.3390/robotics4040421

Publishing type：Research paper (scientific journal)   International / domestic magazine：International journal  

線形MLDV（L-MLDV）は、レーザー光により生きたマウスの頸動脈の速度分布を計測できる。さらに、L-MLDVで使用されている光学部品と信号処理装置をアップグレードし、2次元（2D）流速を高速測定できる断面多点レーザードップラー速度計CS-MLDVを開発した。このCS-MLDVの妥当性は、数値流体力学の結果との比較を通じて検証した。また、手術でCS-MLDVが使用できる可能性を示すために、マウスの腸間膜血管で生体内測定を実施した。数値解析、計測工学に関連する。

DOI： 10.1016/j.optcom.2015.04.075

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.1155/2015/312780

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.7567/JJAP.54.012501

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.3390/robotics3020149

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.1016/j.bej.2013.12.011

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

It is very important to develop a guide robot for the visually impaired people with the hope of welfare reform. Lest the visually impaired people fall down by the step or have a collision with a street tree, the guide robot must guide them safely. A 3-dimensional map where various obstacles and steps have been recorded is necessary for the guide robot. In this study, 3-dimensional occupancy gird map concerning the unleveled ground was made with a measuring device composed of a servo motor and a laser range finder. Small stones, grass, and a tree branch and so on were expressible on the 3-dimensional map. The standard deviation value on the map, i.e. the void ratio above the uneven ground, can indicate whether the guide robot for the visually impaired people can go into the measured place. Even if the each measured area is small, the maps can combine to create the wide field map. We have been able to make 3-dimensional occupancy grid maps which are useful to guide the visually impaired people.

DOI： 10.5136/lifesupport.25.116

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, deterioration is serious. Taking action to the deterioration of infrastructures is desirable. In this study, we aim to develop the robot that can inspect cracks and corrosion in steel bridge substructures. A four-wheel driving robot for trial purposes has been created with the aid of analysis using software DYMOLA. The robot can climb vertically on a steel wall. Strong permanent magnets are installed on the edge parts in the wheels. This robot does not fall by gravitation when it climbs a steel wall or runs along the ceiling upside down. The running performance of the robot is examined by the experiment.

DOI： 10.1299/kikaic.79.3135

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

We intend to develop a laser Doppler velocimetry (LDV) system for in-vivo imaging that can measure blood flow velocity, that can generate tomograph of blood vessels with information in the depth direction and that has a high spatial resolution to enable individual microvessels. The present system evolved from a multipoint LDV (MLDV) that we developed for performing simultaneous multipoint measurements of water flow in transparent artificial flow channels. In this paper, we suggest an optical component of advanced MLDV for in-vivo and a method to determine the blood flow velocity from the sampling data. We measured microvessels of an experimental mouse, and succeeded in imaging the blood flow velocity in microvessels as 2 or 3 dimensional images. Finally, we demonstrate that using MLDV of blood vessels is useful for diagnosing malignant melanomas by comparison with visual diagnosis by dermoscopy.

DOI： 10.1299/kikaib.79.1095

CiNii Article

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   International / domestic magazine：Domestic journal  

In this paper, we attempted generating a moveable path from the start to goal positions with mobile robots with wheels. Because agricultural mobile robots with wheels cannot move onto a step due to mechanical factors, we have devised a path planning method which considers the gradient on the ground. Q-learning is one of the methods which is often used for path planning. Using Q-learning, we made a robot learn the optimum path with the smallest gradient on the ground. We performed an experiment using a real robot in an actual environment with steps and slopes, and investigated the effectiveness of this method. The effectiveness of this method was verified from the experiment results.

DOI： 10.11357/jsam.75.175

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.5226/jabmech.3.57

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

実用化に向けて魚ロボットの高速度化が必要である。様々な条件の下で、3次元流体構造連成解析のシミュレーションプログラムを用いて、高速化する因子を見つけ出すことを目的とする。なお、数値解析の結果をPIV測定結果と比較して、両者がよく一致していることを確認している。数値解析の結果、2つの関節を持つ魚ロボットのパフォーマンスは、1つの関節を持つ魚ロボットのパフォーマンスよりも優れていること、尾ひれの柔軟性に関して硬さに分布を持たせることで性能が上がることを確認した。ロボット工学、数値解析に関連する。

DOI： 10.1155/2013/310432

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

 Autonomous small fish robots are ideal for surveys of fish resources and underwater structural inspections where electric wires hinder the movement of the robot or where radio signals, such as GPS, cannot be received. For practical usage such as taking pictures of fishes in the sea, the fish robot needs to follow the target fish and estimate its self-position to swim autonomously in water. The authors have developed a small fish robot named FPGA Offline Control Underwater Searcher (FOCUS) which has some micro CMOS cameras and an FPGA circuit board for data processing. Red objects can be detected with the CMOS camera. Using visual information from images taken from the bottom facing camera, self-position estimation becomes possible. The self-position estimation has been tested utilizing a real-time digital image correlation method using an FPGA. Development of a VHDL program for the FPGA and the mounting of FPGA on a circuit board have been conducted for target following and self-position estimation. This FPGA board executes both the control of the swimming fish robot and image processing at the same time. Results confirm that the small fish robot can follow the target and can measure simultaneously its self-position.

DOI： 10.5988/jime.47.742

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.78.2924

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

 Autonomously working small fish robots are ideal for surveys of fish resources and underwater structural inspections where electric wires hinder the movement of the robot or where radio signals, such as GPS, cannot be received. For practical usage, the fish robot needs to estimate its self-position to swim autonomously in water. Using visual information from images taken from the bottom facing camera, self-position estimation becomes possible. Digital image correlation and tracking method is often used to measure deformation or strain of material and visualization of flow in water. Although self-position estimation of aquatic robots becomes possible when this method is applied, microcomputers (PIC, H8, AVR etc.) cannot be used for the digital image correlation method since they are unable to perform the calculations in real-time. In this study, self-position estimation was tested utilizing the real-time digital image correlation method by using a FPGA (Field Programmable Gate Array). VHDL programming for FPGA and the FPGA equipped circuit board have been originally developed. This FPGA board executes both the control of the swimming fish robot and image processing at the same time. Results confirm that the small fish robot can measure swimming distance by itself.

DOI： 10.5988/jime.47.437

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Fish robots that swim with the tail fin do not give the caution to underwater creatures. Therefore, they become useful for the investigation of ecosystem in water and the usage of the environmental surveillance and so on. However, the propulsive velocity of fish robots is extremely slower than that of live fishes. It is necessary to examine the difference of how to swim between live fishes and fish robots in order to put the robots to practical use. In this study, the modification has been added to the CFD code that had been developed up to now, so as to clarify the relation between tail fin's flexibility and the propulsive performance of the fish robot. The new code can calculate fluid-structure interaction analysis considering elastic deformation of tail fin. By using the modified CFD code, effects of tail fin flexibility on propulsive velocity and flow pattern of water around the fish robot have been examined.

DOI： 10.1299/kikaic.77.2351

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.5226/jabmech.1.51

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.76.3622

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.11351/jsaeronbun.41.1083

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaib.76.764_650

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：International journal  

DOI： 10.20965/jrm.2010.p0150

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.76.665

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

CiNii Article

Publishing type：Research paper (scientific journal)  

Dimethyl ether (DME) is one of the most promising alternative fuels for the near future. For rapid spread, it is desirable to use the mixture of DME with LPG (mainly propane), because a mature supply infrastructure already in existence can be employed. However, using the mixture of LPG and DME as a fuel for a spark ignition engine causes a problem, knocking during combustion. In a previous study, the authors analyzed this knocking phenomenon in a small gas engine for co-generation system by means of a three-dimensional combustion simulation based on a chemical kinetic model, and investigated the effect of combustion chamber shape on the knocking phenomenon. However, due to long computational time, it was difficult to evaluate various piston cavity shapes under the wide range of operating conditions. Therefore, in this study, the authors have investigated the effects of those piston cavity shapes on engine performance, especially on knocking limits by experiments under the wide range of operating conditions in the same engine, and have explored a suitable piston cavity shape for LPG-DME mixture fuel with high ratio of DME.

DOI： 10.5988/jime.44.941

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

The stratified air-fuel mixture formation for stratified SI (spark ignition) combustion, and the homogeneous air-fuel mixture formation for both homogeneous SI combustion and HCCI (homogeneous charge compression ignition) combustion, in a direct-injection gasoline engine, have been three-dimensionally analyzed by means of the authors' GTT code with a fan spray model which was validated by the authors' group. The effects of various in-cylinder gas flows on mixture formation, by means of a fan spray, have been investigated by using intake valves with shrouds in various layouts. Furthermore, the effects of the fuel injection direction and the injection timing on mixture formation, have also been investigated. As a result, it has been found that both stratified mixture and homogeneous mixture can be formed stably at a wide range of engine speeds by only changing the fuel injection timing, with the fuel injection direction in accordance with the in-cylinder gas flow direction.

DOI： 10.5988/jime.44.641

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Further improvement in the purification performance of exhaust gas is required for the three-way catalyzers (TWC) to purify gasoline engine exhaust gas. Therefore it is necessary to investigate the purification characteristics, in detail, and improve the catalyzer geometry, etc. In this study the conversion efficiencies of exhaust gas components; CO, HC and NO in the TWC were estimated by three-dimensional calculation with the authors' GTT code, in which a catalytic reaction model was incorporated in order to analyze the thermo-fluid flow with chemical reaction in the TWC. The effects of the shapes of exhaust pipe and diffuser in the upstream part of the monolith catalyzer on conversion efficiency were investigated. It has been found that both exhaust pipe and diffuser shapes considerably affect the conversion efficiency of catalyzer, especially in the range of catlyzer activation temperature, i.e., from about 400 K to 520 K.

DOI： 10.5988/jime.44.477

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Gasoline homogeneous charge compression ignition (HCCI) engines, in which a very lean homogeneous mixture is burned at a high compression ratio, can operate with a high thermal efficiency, and can reduce NOx emission. Therefore, the HCCI engine is a possible candidate as a next-generation engine. In this study, the authors newly proposed a reduced elementary reaction scheme for gasoline PRF, and simulated the ignition and combustion process and the combustion products in a gasoline HCCI engine by three-dimensional numerical analysis using the authors' GTT code, which was linked to the CHEMKIN subroutines with the proposed elementary reaction scheme. As a result, the ignition timing, the cylinder gas pressure, the rate of heat release, and the emissions of NO and CO2 at various air-fuel ratios and engine speeds were accurately predicted.

DOI： 10.5988/jime.44.298

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Dimethyl ether (DME) is one of the most promising alternative fuels for the near future. For rapid spread, it is desirable to use the mixture of DME with LPG (mainly propane), because a mature supply infrastructure already in existence can be employed. However, using the mixture of LPG and DME as a fuel for a spark ignition engine causes a problem, knocking during combustion. In a previous study, the authors analyzed this knocking phenomenon by a three-dimensional combustion simulation based on a chemical kinetic model using a GTT-CHEM code. This code was constructed by linking the authors' GTT code to the CHEMKIN-II code. In this study, using this simulation technique, the authors have investigated the effect of combustion chamber shape on the knocking phenomenon. The authors have explored a new combustion chamber which can suppress this occurrence of knocking. A small gas engine for co-generation system was employed and obtained experimental data, for comparing with the numerical simulation results.

DOI： 10.5988/jime.44.150

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

The combustion characteristic timescale model by Kong et al. was applied to zero-dimensional chemical kinetics calculation with a detailed elementary reaction scheme in order to predict combustion processes under various operating conditions in a gasoline HCCI engine, and it has been shown that combustion processes as well as ignition timings can be predicted by means of this method. The effects of initial chemical species compositions on ignition timing were investigated by zero-dimensional chemical kinetics calculation, and the mechanism of ignition promotion due to CO was inferred on the basis of Kuwahara's contribution matrices.

DOI： 10.11351/jsaeronbun.40.369

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

The purpose of this study is to establish a practical method based on a chemical kinetic model for three-dimensional numerical analysis of the combustion process in direct-injection diesel engines. For saving computational time, a reduced elementary reaction scheme for diesel fuel was constructed. The basis was the Golovitchev detailed elementary reaction scheme. Using an original engine combustion simulation code GTT-CHEM along with the reduced elementary reaction scheme, the combustion process was three-dimensionally analyzed in a direct-injection diesel engine with high-EGR ratios.<BR>As a result, the combustion process and NO emission were quantitatively predicted by estimating the initial gas state and the initial composition appropriately. The emission tendency of soot was reasonably assessed by means of φ-T maps.

DOI： 10.5988/jime.43.6_971

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

A direct ethanol polymer electrolyte fuel cell (DEFC) is an energy conversion system suitable for recycle-oriented society on the point that it uses innocuous bio fuel, but there exists a problem that its power generation performance is low. One of the causes is the generation and stagnation of by products in the anode-side passage. In this study, the authors have conducted numerical and experimental analyses of the liquid flow in various types of channels in the anode-side passage for estimating the pressure loss between an inlet and an outlet, and also for investigating the behavior of by products such as acetic acid produced in the passage. It has been found that a serpentine channel with branches is preferable because the pressure loss in the channel is much lower than in a serpentine channel and also the channel is likely to discharge by-products smoothly.

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

In order to improve the accuracy of practical numerical analysis of high-pressure injection fuel sprays under high-pressure and high-temperature ambient gas conditions using relatively coarse computational grids, we introduced the following our original models into authors'GTT code for fuel injection engine combustion analysis: 1) Gas parcel method. 2) Two-stage modified wave break-up model, and its parameter functions. 3) Model of relative velocity between each droplet and the ambient gas. Using these models, the three-dimensional numerical analysis of the combustion in a direct-injection diesel engine could be performed under various conditions. The calculated results were compared with the experimental data. As a result, we could confirm that the original models are effective in improving the accuracy of engine combustion analysis.

DOI： 10.5988/jime.43.5_788

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

天然ガスと軽油の成分を含むガス混合物の素反応スキームを構築した。また、天然ガスと空気の混合物が吸気ポートから供給され、少量の軽油が点火源として噴射される過給式デュアル燃料エンジンの燃焼プロセスが、CHEMKIN-IIサブルーチンを連結した熱流動解析コードを使用して、化学反応速度を考慮しつつ3次元数値解析で明確化された。提案された化学反応速度モデルの妥当性は、計算結果と実験結果を比較することで検証された。内燃機関、数値解析に関連する。

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

In order to investigate the effects of mixture Inhomogeneity and gas flow on combustion and emissions in a premixed-charge compression ignition engine, three-dimensional numerical analysis of the combustion process was carried out by using the authors' GTT-CHEM code, which was linked to the CHEMKIN-II code. Combustion processes of gas oil and air mixtures (overall equivalence ratio was set at 0.4) under various initial conditions of mixture inhomogeneity and gas flow (swirl or tumble flow) were computed in consideration of chemical kinetics. It has been found that the maximum rate of pressure rise decreases as the mixture inhomogeneity becomes higher. On the contrary, the concentrations of combustion products NO, CO and HC increase, and the combustion efficiency becomes lower with the increase of mixture inhomogeneity. As a result, it has been shown that there exist appropriate initial conditions of mixture inhomogeneity and gas flow for suppressing the maximum rate of pressure rise with relatively low emissions of NO, CO and HC at high combustion efficiency.

DOI： 10.5988/jime.42.4_622

CiNii Article

J-GLOBAL

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Generally, for numerically analyzing gas jets, computational mesh spacing must be smaller than the diameter of an injector nozzle. However, in performing three-dimensional flow analysis in the combustion chamber of a gas fuel injection engine, it is not realistic due to very long calculation time to use a fine mesh with spacing comparable to the diameter of an injector nozzle. Then, the authors devised a gas parcel method expressing local gas velocity distribution within mesh spacing, and verified its validity as follows:<BR>Firstly, an air jet injected into air was numerically analyzed using this method with a mesh having ten times larger spacing than the diameter of an injector nozzle. Basic characteristics (maximum velocity, velocity distribution and half width) of the calculated results were compared with theoretical values. It was found that the calculated results nearly reproduce the tendencies of theoretical values. Secondly, this method was applied to the numerical analysis of a hydrogen gas jet injected into air. It was found that the penetration, concentration distribution and shape of the jet are qualitatively in agreement with experimental results. As a result, it was shown that the proposed gas parcel method is effective in improvement of the accuracy of practical gas jet analysis.

DOI： 10.5988/jime.42.4_694

CiNii Article

J-GLOBAL

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

In order to run a numerical analysis of gas-liquid two-phase flows accurately, a three-dimensional computational code has been developed with a new numerical method in consideration of superior mass conservation. In this code, which is based on the GTT code developed by the authors, the interface between two phases is discriminated by an interface tracking function, and the function is reconstructed according to its iso-value surface at appropriate intervals during its convection process so that the interface can be captured sharply and the mass can be absolutely conserved. By using this code with the original numerical method, the behavior of two water droplets, which impinge mutually in various manners, has been numerically analyzed and the calculated result compared with an experimental result. The results show that this code can reproduce well the phenomenon of coalescence or breakup after the mutual impingement of the droplets.

DOI： 10.5988/jime.42.3_472

CiNii Article

J-GLOBAL

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Fundamental study was made to construct a hybrid power system composed of passive-type polymer electrolyte fuel cells (PEFCs) and electric double-layer capacitors for agricultural electric vehicles. For numerically simulating the behavior of the hybrid system, a fuel cell equivalent circuit model was developed and the model parameters were determined based on an electrochemical theory and experimental results. By means of numerical simulation with this fuel cell equivalent circuit model which can represent the actual current-voltage characteristic reasonably well for a passive-type PEFC unit, the efficiency of the passive-type PEFC controlled by the authors' original power control method named Time-Splitting Method (TSM) has been investigated under various conditions (TSM frequencies, duty ratios and external load resistances), and the improvement of the efficiency of this PEFC with TSM has been confirmed.

DOI： 10.11357/jsam1937.69.78

CiNii Article

J-GLOBAL

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Polymer electrolyte fuel cells, which have been developed for mobile equipment, are mainly direct methanol fuel cells (DMFC). From the standpoint of safety to a human body, it is desirable to use ethanol as fuel. In order to improve the performance of direct ethanol fuel cells (DEFC), it is necessary to investigate the fuel flow pattern in the anode flow channel with many sharp turn corners in the fuel cell, and to improve the channel shape. So, in this study, the velocity distribution of the water flow in a micro-channel was numerically analyzed using the authors' GTT code and the calculated results were verified by the velocity measurement with a line LDV system. For reducing the pressure loss in consideration of the suppression of flow stagnation in the channel, it was attempted to optimize the sharp turn corner shape by three-dimensional numerical flow analysis with a genetic algorithm (GA) and a shape with less pressure loss was found.

CiNii Article

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

CiNii Article

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

As to agricultural vehicles, it is necessary to prevent tires from slipping when running on a ridge road. If electric motors are used to drive the wheels of an agricultural vehicle, it is easy to control the driving force of each wheel.<br>In this study, a traction control system with an original peak search method of the driving force was applied to an agricultural electric vehicle for improving vehicle stability. A simulation model for the power train of one of the driving wheels of an agricultural electric vehicle with the traction control system was composed and identified with a fixed experimental apparatus.<br>By numerical simulations, it has been confirmed that the slip ratio between a tire and a road can be kept at optimum states under very slippery conditions.

DOI： 10.11357/jsam1937.68.2_69

CiNii Article

J-GLOBAL

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

A simple series hybrid power system composed of passive-type polymer electrolyte fuel cells (PEFCs) and electric double-layer capacitors was adapted to a lightweight electric vehicle. In order to numerically simulate the behavior of the hybrid system, a fuel cell equivalent circuit model was applied and the model parameters were determined using an electrochemical theory and experimental results. Including this PEFC equivalent circuit model, a simulation model of the power train system (PEFCs, capacitors, motor, power controller, inertia, etc) of a lightweight electric vehicle was composed. It has been confirmed that this simulation model can represent reasonably well the dynamic behavior and energy transmission of the system in the experiment on a fixed apparatus constructed as a model of the vehicle.

DOI： 10.1299/kikaic.71.2607

CiNii Article

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.68.1512

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Authorship：Last author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.67.739

Authorship：Last author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Authorship：Last author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

DOI： 10.1299/kikaic.65.4409

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

電子制御スロットルを装備した自動車では、Drive By Wireによってアクセルペダル感度を随意に設定できる。そのために、車軸トルクと車軸回転数が必要であり、車軸トルクは適応観測器によって推定可能である。しかし、この制御方式は、道路勾配やエアコンで変化する外乱負荷トルクの影響を受ける欠点があった。そこで本研究では、トルクデータテーブルを組み合わせることで、外乱負荷トルクを推定し、その補償をした。制御工学、自動車工学、計測工学に関わる。

DOI： 10.1299/kikaic.59.3

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

アクセルペダルと電子制御スロットル弁の間にコンピュータを介在すれば、アクセルペダル感度をハードウェアの限界内で運転域やギア比に関係なく、随意の設定が可能になる。そのためには、トルク信号が必要になるが、従来車にトルクセンサは用いられていないため、センサレスでトルク値を得ることが望ましい。本手法を用いることでコストを削減できるだけではなく、制御結果もより良くなることが示された。制御工学、自動車工学に関連する。

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

電子スロットルの採用はアクセルペダルとエンジンの索による結合、拘束から開放しスロットルとアクセルペダルの間に介在するコンピュータにより機関のハードウェア限界内で車両駆動系の動特性を自由に設定することを可能にする。ただし、その設定には望ましい範囲が存在し、小さすぎれば坂道走行時に負荷トルクの影響を受けやすく、大きすぎれば乗り心地を悪くする。また、スロットル全開状態はハードウェア上の限界を意味するため、適宜ギア比を変える必要性を示した。制御工学、自動車工学に関連する。

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

エンジンはモータと異なりトルク値の取得が難しい。トルクセンサをエンジン軸に取り付けることはコスト面から望まれない。そこで、本研究では、スロットル弁開度と車軸回転数から適応観測器を用いて、トルクを推定する方法をソフトウェアトルク計として提案した。トルクの推定値と、トルクの実験結果は過渡時も含め良く一致している。制御工学、内燃機関に関連する。

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

Publishing type：Research paper (scientific journal)   Kind of work：Joint Work   International / domestic magazine：Domestic journal  

原動機と負荷が成す回転運動系の静的・動的挙動は両者のトルク・回転数特性の相互関係に依存する。内燃機関と負荷を対象として、制御系を構築する場合、レシプロ機関特有の間欠燃焼を想定して離散系として特性を明確化することが望ましい。そこで、この研究では、離散系モデルの中でトルクが間欠発生するようにしている。制御パラメータ、間欠燃焼周期を様々に変化させたときの応答性や安定性について示した。制御工学、内燃機関に関連する。

Presentation type：Oral presentation (general)  

Presentation type：Oral presentation (general)  

Presentation type：Poster presentation  

Presentation type：Poster presentation  

Presentation type：Oral presentation (general)  

Venue：オンライン  

Presentation type：Poster presentation  

Presentation type：Oral presentation (general)  

Venue：Osaka City University  

Presentation type：Oral presentation (general)  

Venue：Osaka City University  

Presentation type：Oral presentation (general)  

Presentation type：Poster presentation  

Presentation type：Poster presentation  

Presentation type：Oral presentation (general)  

Presentation type：Oral presentation (general)  

Venue：Tokyo, JAPAN  

Presentation type：Oral presentation (general)  

Venue：Tokyo, JAPAN  

Presentation type：Oral presentation (general)  

Presentation type：Oral presentation (general)  

Presentation type：Oral presentation (general)  

Presentation type：Oral presentation (general)  

Presentation type：Poster presentation  

Presentation type：Oral presentation (general)  

DOI： 10.1299/jsmekansai.2017.92.M614

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

<p>Many infrastructures like bridges and tunnels had been constructed during the steep economic growth age. In Japan, degradation of those infrastructures becomes a problem. The main inspection method needs scaffolding under the bridge throughout, but it costs. Recently, Robots for the inspection has begun to attract notice. Inspection robots can cut cost and be safe. Inspectors must know the position where the robot captured the photo of damage. Therefore, localization system for robots is very important. Because, for example, a bridge inspection robot must be very compact, so localization system for the robots needs to be small and lightweight. In this study, we have created a localization system for the compact robots by using speakers and a microphone. This system consists of an analog circuit, an F PGA, a seven-segment display and a battery. However, It is necessary to mount only a microphone and the analog circuit on a small robot. The analog circuit with a microphone is very small and lightweight. First, we have performed experiments with only this system. As a result, it has been confirmed that this system can estimated the position. Then, we have mounted the microphone, the analog circuit and discrimination circuit on the small robot object and this system has estimate the position of the robot. According to the experimental results, the practical utility of this system has been confirmed</p>

DOI： 10.1299/jsmesed.2016.15.208

CiNii Article

Presentation type：Oral presentation (general)  

<p>In recent years, bridge inspection used a robot has been expected. The interior of a box girder requires inspection. The interior of the box gilder has many bolted splice parts which become obstacle to the robot. So, we have developed a robot traveling on the bolted splice part. Although the robot can travel on the bolted splice part, the control of the robot is difficult. Because box girder has a complicated structure, it is extremely difficult for an operator to make run the robot on the bolts by remote control. The aim of this study is to apply autonomous steering control by using the reflected light and image processing for traveling the bolted splice part. This autonomous steering control system makes the robot travel on the bolted splice part.</p>

DOI： 10.1299/jsmermd.2016.2A2-09a1

CiNii Article

Presentation type：Oral presentation (general)  

<p>It is need a base station robot wired a robotic fish to operate the robotic fish by remote control. In addition, the base station robot needs a high maneuverability to response a robotic fish's action. In the present study, we developed a small robotic fish equipped with Wi-Fi module to send images. Images captured by a CMOS camera transmitted to the operator while the robotic fish swims near the water surface. However, images were not transmitted to the operator in the deep water because the Wi-Fi signals were not reach the receiver. Accordingly, we manufactured a base station robot enable to operate the robotic fish by remote control in the deep water.</p>

DOI： 10.1299/jsmermd.2016.1A1-13a3

CiNii Article

Presentation type：Oral presentation (general)  

Bridge inspection robots are expected to pass through obstacles such as bolted spliced part and right-angled routes. This paper was aimed at developing a bridge inspection robot which is capable of traveling on bolted spliced part. Two-wheel-drive robot was developed. It is equipped with two rimless wheels as propulsion wheels. Each of the spoke is tipped with a neodymium magnet. Trailing wheels are aggregate of magnetic wheel with a caster. The robot can do the pivot turn to avoid the splicing bolt. Experiments were conducted to check the performance of the robot. The robot attempted to travel on bolted splice part and eight right-angled routes. It is found that the robot could pass through the splice part. Moreover, it produced high success rates of the internal right-angle routes.

CiNii Article

Presentation type：Oral presentation (general)  

Many locomotive robots have been created for inspecting the social infrastructures such as a lot of bridges and tunnels that had been constructed in many years. Installation of a small camera and a wireless LAN module to the locomotive robot is necessary to control it remotely. The camera image must be encoded to transmit the data from the robot in advance because the throughput of wireless LAN is limited. The compressibility of the image compression through discrete wavelet transform and arithmetic encoding is very high. However, the calculation load is also large. A highly efficient personal computer cannot be installed in the robot when the robot is small. FPGA becomes the most powerful candidate as a main controller for the small robot. However, it is not good at arithmetic operation because FPGA is an electric circuit. Especially, use of floating-point numbers, the multiplication and division calculations are difficult for the FPGA. In this study, the multiplication and division calculations have been excluded from the discrete wavelet transform and arithmetic encoding so as to make program easy in FPGA. Then, I have prevented the emergence of floating-point numbers in the calculation. I have created the VHDL program and the sending and receiving device of the encoding and decoding. The image data captured by a CMOS camera have been projected onto the display monitor on the receiving side.

CiNii Article

Presentation type：Oral presentation (general)  

Japanese traditional boats going ahead by human power have high efficiency in comparison with the other human-powered boats. The reason why the Japanese traditional boat has high efficiency is to use lift as propulsive force. In this study, we have manufactured a small model of a Japanese traditional boat for experiment to examine the specification. Models of oar have been made by using a 3D printer. Each of models of oar is different from cross-sectional shape. The electrical power consumption and net propulsive force have been measured in the experiment. In addition, by using CFD analysis of water flow around each oar, lift, drag force and lift-to-drag ratio have been calculated. By comparing the experimental results and CFD results, it has been found that which cross-sectional shape of oar is suitable for the propulsion of Japanese traditional boats. This study will be useful to develop an underwater robot which applies the principles of the oar.

CiNii Article

Presentation type：Oral presentation (general)  

The oar of Japanese traditional boat resembles the fin of fish, compared the oar of the European boat to the crawl of the swimming. A human power promotion method of a Japanese traditional boat has high efficiency in comparison with other human power promotion methods. The reason why the human power promotion method of a Japanese traditional boat has high efficiency is to use lifting force as propulsive force. In this study, we manufactured a small model of the Japanese traditional boat for experiment to examine the specification of the boat. Propulsive force and propulsive speed of the model have been measured. In addition, by using PIV measurement and CFD analysis of water flow around oar, we investigated about four oar types.

CiNii Article

Presentation type：Oral presentation (general)  

In petrochemical plants, there are a large number of steel pipes running horizontally, vertically, and obliquely, and inspecting them is difficult and time-consuming. There is therefore a strong demand for practical pipe inspection robots to aid in this task. The aim of the present study is to develop an outer-pipe inspection robot that can move along narrow pipes and wires. Simulation model of mobile robot was developed. The simulation model consists of motion equation. This model has 8 degrees of freedom. Identification of the simulation model was conducted with the mobile robot. Using this model, we evaluate effects of center of gravity on the running stability. The procedure of calculate is Runge-Kutta method. It confirmed that pitch vibration is suppressed by moving center of gravity.

CiNii Article

Presentation type：Oral presentation (general)  

Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is useful for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. In this study, we created a flying robot HORNET with tilt-rotors and two wheels that can inspect cracks and corrosion in concrete bridge substructures. We confirmed that the relationship between the state of wall surface and the power consumption of the robot.

CiNii Article

Presentation type：Oral presentation (general)  

Many infrastructures like bridges and tunnels had been constructed during the steep economic growth age. In Japan, degradation of those infrastructures becomes a problem. Recently, using robots for the bridge inspection attracts attention. Checking using robots can cut cost. But area of the damage can't be identified, just look at photos of a damage part. Therefore, position estimation system for robots is very important. We have created position estimation system for robots by using speakers and a microphone. In addition, practical utility of one dimension has been confirmed. In this study, we have mounted a microphone on the robot and this system has estimated the position of the robot. The practical utility of this system was confirmed.

CiNii Article

Presentation type：Oral presentation (general)  

Many aqua robots are in practical use to investigate various aquatic animals. Caudal-fin-driven robotic fish that imitate live fish do not alarm other underwater creatures. Moreover, because such robotic fish do not use a screw propeller, they are unlikely to be entangled with water plants. In this study, two-joint robotic fish have been constructed with servo motor to speed up. To compare for the results of PIV experiments and CFD analysis then evaluate the differences of the propulsion performance by changing the phase difference. It can be confirmed that the angle of the tail fin tip and is related to the angle spread of the vortex. This robot was able to swim like live fish.

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

Robots using for the bridge inspection to aim at the labor saving and lowering the maintenance cost is desirable for the management and maintenance of many old bridges because the conventional method will impose a burden on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. If the robot will be used in real environment, it needs cameras which are used to control the robot for the bridge inspection. In this study, we verified the cameras adapted to BIREM. Finally, it was found suitable camera equipped with wide-angle lens.

CiNii Article

Presentation type：Oral presentation (general)  

Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is hoped for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. In this study, we added the improvement to the controller of the robot. We confirmed that the running ability of new robot is better than that of conventional control robot when experiments of running where conducted at right angled routes. Consequently, we found the success method of running.

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is hoped for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. We had created a four-wheel driving robot for trial purposes that can inspect cracks and corrosion in steel bridge substructures. In this study, we added the improvement to the size, the turning ability and the controller of the robot. We have confirmed better results than an old-type robot in the experiment concerning whether the robot can finish the running in a variety of exanimation courses.

CiNii Article

Presentation type：Oral presentation (general)  

Many aqua robots are in practical use to investigate various aquatic animals. Caudal-fin-driven robotic fish that imitate live fish do not alarm other underwater creatures. Moreover, because such robotic fish do not use a screw propeller, they are unlikely to be entangled with water plants. In this study, two caudal-fin-driven robotic fish have been constructed with a DC brushless motor to speed up. The propulsive performance of the one-joint robotic fish and the two-joint robotic fish was investigated using several caudal fins. Two-joint robotic fish had a good performance of propulsive force 330 mN and swimming velocity 400 mm/s at the phase difference 60 degree. This robot was able to swim like live fish.

CiNii Article

Presentation type：Oral presentation (general)  

As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, the deterioration is serious. Therefore, it is important to take action to the deterioration of infrastructures. We aim to develop the robot that can inspect cracks and corrosion under the steel bridge. A four-wheel driving robot with a laser range finder has been made, and it climbs a steel wall vertically. In this study, a three-dimensional occupancy grid map was made by the robot in high points where the worker cannot go easily. The large-scale structure modeling bridges can be expressed plainly as a 3D occupancy grid map.

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

CiNii Article

Presentation type：Oral presentation (general)  

As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, deterioration is serious, and taking action to the deterioration of infrastructures is desirable. In this research, we aim to develop the robot that can inspect cracks and corrosion under the steel bridge. We make a four-wheel driving robot for trial purposes, and it can ambulate and climb vertically. Strong permanent magnets are installed on the edge parts in the wheels. This robot does not fall by gravitation when it climbs a steel wall or runs along the ceiling upside down. The running performance of the robot is examined by the driving experiment and by the analysis by using software DYMOLA.

CiNii Article

Presentation type：Oral presentation (general)  

We developed a Multipoint Laser Doppler Velocimeter (MLDV) system for the simultaneous measurement of data in transparent fluid. The MLDV was constructed in order to apply linear measurement techniques to a series of single points. We developed of MLDV using a linear optical plastic fiber array and were able to improve the measurement of opaque fluids, such as blood. This fiber array has 40 optical fibers with a total width of 5.0 mm; each optical fiber has a core diameter of 100 μm. Some performances have greatly improved compared with a conventional laser Doppler blood flowmeter. The present system can measure absolute velocity and, based on this, can display the tomograph of blood vessels courses. The spatial resolutions of each of x-y axes and z axis in this system are 100 and 500 μm. The MLDV is able to acquire the high-resolution in vivo three dimensional mapping of blood flow with the velocity, particularly in the smaller arterioles and venules, by using a scanning method. The MLDV was developed primarily for using in the diagnosis of cancer. We attempted to perform blood flow velocity imaging of a malignant melanoma which transplanted in mouse ear.

CiNii Article

Presentation type：Oral presentation (general)  

Safe walking at nighttime of the elderlies who suffer from the sickness of eyes is a purpose in this study. We have tried recognizing a pedestrian signal by using the small mobile robots with two cameras, and we have controlled the robot with the result of that recognition. The robot has a 3D map which had been created beforehand. After the robot checks the position of the pedestrian signal on the basis of the 3D map, the robot turns its cameras to the position. Moreover, only the traffic light is identified by various image processing among some lights, and the robot checks the color. We have experimented with an actual mobile robot at a crossing. It has been confirmed that the robot identifies the green light and informs user to cross.

CiNii Article

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Many aqua robots are in practical use to investigate various aquatic animals in sea. However, their size is large and they make a noise and a large water flow because the impellent is obtained by rotating screw propeller. In a word, live fishes fear the aqua robot. Therefore, small fish robot of fin drive type becomes useful. When the fish robot swims in the vicinity of the water surface in shallow area where the bottom is seen from the water surface, the electric wave can be used. In this study, we have made a small fish robot with the ability to observe target objects such as live fish. In addition, we have tried to make the fish robot follow the target object autonomously.

CiNii Article

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Amphibian robot can conserve the ecological environment at any time under the state with a changeable water level. When a live fish is imitated and a fish robot is manufactured, the robot needs only a few actuators. Newts that are amphibian swim just like fishes in water. When newts walk on the ground, the movement of newts is similar in the case of swimming. In a word, the movement of trunk is more important than detailed movement of forelegs and hind legs. In this study, a robot which imitated newt's walking and swimming functions was produced for trial purposes. This robot has the propulsive mechanism with the trunk bending and twisting. This newt robot can walked on the ground and the bottom in water, and can swim in water. The kinematic performance of the robot has been examined.

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It is necessary for a small aqua robot to search for a target in order to investigate creatures such as fishes in a river or lake. However, control signals by electric wave from outside do not reach a robot easily in water. Therefore, aqua robots must search the target autonomously without signals from outside. It is important for a robot to gaze forward and recognize the target in water. In this study, we have used a fish robot named FOCUS which can swim in water by using the tail fin. This robot has some micro CMOS cameras and a FPGA circuit board for data processing. A red object is detected with the CMOS camera. In addition, FPGA calculates where the red object is located in the image. This robot controls the tail fin mechanism and submersible system in order to decide the course of the robot in response to the calculated positional coordinates. We have confirmed that this robot can recognize a color target and follow the target in water.

DOI： 10.1299/kikaic.78.2924

CiNii Article

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In this paper, we have tried generating a path from the start position to the goal position which is movable with mobile robots. Because mobile robots with wheels cannot move onto a step by the problem in the mechanism, we made a path with considering the gradient of ground level. Q-learning is one of the method witch is often used to planning path. We have made a robot learn to get path which has less gradient of ground with Q-learning. The effectiveness of this method is investigated with an actual robot in the real environment that has steps and slopes. The experimental result shows the effectiveness of this approach.

CiNii Article

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Fish robots that swim with the tail fin do not give the caution to underwater creatures. Therefore, they become useful for the investigation of ecosystem in water and the usage of the environmental surveillance and so on. However, the propulsive velocity of fish robots is extremely slower than that of live fishes. Therefore, in this study, we aim to improve the propulsive performance of fish robot. The fish robot is made for trial purposes. Then, the effects of supply voltage, tail fin flexibility and operating frequency on propulsive performance in the fish robot have been examined. The fish robot has swum fast at high supply voltage, and has swum efficiently at low voltage. Moreover, it has been confirmed that the fish robot swims very fast when the fin flexibility and frequency are appropriate and the tail fin motion is similar to that of a live fish.

CiNii Article

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The purpose of this study is making 3D maps for obstacles recognition of guide dog robots. It is necessary that the robots recognize surrounding obstacles for working on the real environment. In order to recognize surrounding obstacles, the robots should have 3D maps of concerning the anticipated route where the robots will pass. We used a laser range sensor (LSR) for making 3D maps. The LSR is made rotated by a servo motor, so 3D data is measured by this rotating LSR. It was identified whether it is space that can be passed with the remodeled LSR for each individual space, and kept the aggregation as 3D grid data. By this way, we could make a 3D grid map of real environment such as the garden in university. And we have confirmed to be able to recognize the height information, for example the height of a stone wall and branches over the head.

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Autonomously working small fish robots are ideal for surveys of fish resources and structural inspection in water where electric wires hinder the movement of the robot or radio signal (GPS etc) does not reach. The fish robot needs the self-position estimation to swim autonomously. Self-position estimation becomes possible by using visual information of bottom image in the sea or a water tank. The visual information is analyzed by means of digital image correlation method. In the study, self-position estimation is tried with use of real-time digital image correlation method and the use of FPGA (Field Programmable Gate Array), whose VHDL programming and control board was developed originally. This FPGA board executes both the control of a swimming fish robot and image processing at the same time. As a result, it has been confirmed that the small fish robot can measure swimming distance itself.

DOI： 10.1299/jsmemecjo.2010.5.0_337

CiNii Article

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Bio gas fueled engines have proved effective in helping the environment; such as reducing methane gas which has a large greenhouse effect, alongside an ozone layer destructing effect, because the main composition of bio gas is methane, and it is not emitted into the atmosphere, but burned up within the engine. In this study, by combining the GRI-Kojima reduced elementary reaction scheme and the DME reduced elementary reaction scheme, which had been constructed by the authors' group, the authors constructed a reduced elementary reaction scheme originally for the mixture of bio gas, city gas, DME and air for investigating the combustion characteristics of a bio gas and city gas mixture fueled engine which was ignited with DME (dimethyl ether) spray. On the basis of chemical kinetics with the proposed elementary reaction scheme, the authors conducted three-dimensional numerical analysis of the combustion process within a practical computation time in a bio gas and city gas mixture fueled engine which was ignited with a small amount of DME spray, using different mixture ratios of bio gas and city gas.

DOI： 10.5988/jime.44.934

CiNii Article

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A swimming micro fish robot whose size is as small as a killifish is useful to seek disaster victims in flood areas, because it can go into narrow spaces. However, in the case that rechargeable batteries are used for supplying electricity to the robot, the robot is not able to continue swimming for a long time because of low energy density of the batteries. Therefore, the authors developed a small and ultra-light passive-type polymer electrolyte fuel cell called "Power Tube". On the basis of this fuel cell technology, the authors created a small fish robot (total length: about 110 mm) by unifying a tail fin driving mechanism, which was composed of a small DC motor and a link, with a Power Tube including a hydrogen generator. The authors also created a low energy consumption micro fish robot with small neodymium magnet and coil actuators, to which two Power Tubes supplied electricity with the assistance of a voltage booster, using methanol as fuel.

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Recently, humanoid robots have been widely researched, and it has become possible to control humanoid robots with complicated kinetic characteristics. However, in the cases that the robot walks on an undulating road or receives disturbance such as collision with an object from the outside, the robot loses stability and falls, even if the inverted pendulum model is used. In this study, force sensors have been used on the soles of the humanoid robot to find the irregular parts on the road in order to stabilize the dynamic walk on the undulating road. As a result, it has been confirmed in simulation that the humanoid robot is able to walk on an undulating road.

DOI： 10.1299/jsmemecjo.2009.5.0_143

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In this study, investigation was conducted on prediction of ignition timing and combustion process in a gasoline homogeneous charge compression ignition (HCCI) engine by means of one-dimensional engine cycle simulation and zero-dimensional chemical kinetics calculation. In-cylinder gas thermal states, air-fuel ratio and EGR ratio at intake valve closing time were obtained by means of cycle simulation and applied to initial conditions for chemical kinetics calculation. A detailed kinetic model (101 species and 592 reactions) obtained from the elementary reaction schemes for iso-octane and n-heptane was modified for zero-dimensional calculation with regular gasoline of octane number 91, and validated by engine experiments. The combustion characteristic timescale model by Kong et al. was applied to zero-dimensional chemical kinetics calculation for considering the influence both of the chemical reaction and turbulent mixing. As a result, ignition timing and combustion processes were predicted reasonably at various supercharging pressure and engine speeds.

CiNii Article

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In this study, the authors tried to understand the knocking phenomenon in a spark ignition engine fueled by LPG-DME mixture. The authors' original 3-D CFD code "GTT" linked to the CHEMKIN-II subroutines, called "GTT-CHEM", was used for not only understanding this knocking phenomenon but also estimating the knock intensity, which is usually measured by the completely different way on the test bed, from the CFD results. Then, a several different shapes of piston cavity were examined by both CFD and actual engine tests. As to the 3-D chemical kinetics calculation technique, for largely saving the computational time with little deterioration of accuracy, the authors constructed a reduced elementary reaction scheme for LPG-DME mixture by combining and reducing the GRI-Mech's scheme for LPG (mostly propane) and the Curran's scheme for DME. This reaction scheme was employed in the GTT-CHEM code, into which a modified version of the Kong's turbulent combustion model based on elementary reactions was incorporated. The GTT-CHEM code with the original reduced elementary reaction scheme was able to reproduce the knocking phenomenon reasonably well in the LPG-DME mixture fueled spark ignition engine. Finally, after actual engine experiments about different piston cavities, it has been found that a knocking intensity estimation index derived from HCHO behavior in CFD results is a good prophetic index to expand the knocking limit.

CiNii Article

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A swimming micro fish robot whose size is as small as a killifish is useful to seek disaster victims in flood areas, because it can go into narrow spaces. In this study, two types of micro fish robots (each total length is about 50 mm) have been developed. One is a fish robot which moves its trunk and tail with small magnetic actuators composed of coils and neodymium magnets. Employing soft material for its tail fin has improved the robot's propulsion performance at an appropriate phase difference between two sets of actuators. As a result, this fish robot can swim considerably fast in water, though its power consumption is very small. In addition, it has been demonstrated that the fish robot can swim by supplying electric power from the authors' original small and lightweight direct-methanol fuel cells (named "Power Tube") with the aid of a voltage booster. Furthermore, it has been shown that another fish robot which moves its tail with an IPMC (ionic polymer-metal composite, notable as artificial muscle) actuator can swim smoothly in water, though its power consumption is considerably larger at present than the former fish robot.

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The butterfly stroke of man's swimming imitates a dolphin, which is excellent in swimming. Therefore, the authors created a swimming humanoid robot which swam like a dolphin. This swimming robot was able to swim in various ways and the operation sequence of servomotors for better swimming was acquired by the particle swarm optimization (PSO). Since fishes can swim skillfully in spite of their simple structure, the velocity distribution of water flow around a real swimming fish has been measured by PIV and analyzed by CFD in order to create new fish robots which can swim like a living fish. A flexible fish robot with 6 motor-string actuators was created and their operation sequence was semi-optimized by the genetic algorithm (GA). Moreover, a wireless-controlled small fish robot with two servomotors was created. It has been shown by PIV measurement that this fish robot with a suitable motor operation sequence generates the reverse Karman vortex street as a real swimming fish does.

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Nowadays, bio-fuel cells which utilize the enzymes of microbes are widely noticed. In this study, the authors made a bio-fuel cell which utilized yeast along with sucrose as fuel, and performed experiments under various conditions in order to improve its power generation performance. The concentrations of the mediator and oxidizer solutions and the number of current collectors in the anode and cathode were optimized. As a result, the single bio-fuel cell with six sheets of current collectors (each area was 20cm^2) in each of the anode and cathode was able to generate the maximum power of about 9mW. Moreover, the authors created a whale-type robot with a small motor powered by the three bio-fuel cells connected in series.

DOI： 10.1299/jsmemecjo.2007.3.0_59

CiNii Article

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The velocity distribution of water flow around a real swimming fish has been measured by PIV and analyzed by CFD in order to create new aqua-robots which can swim like a living fish or dolphin. A flexible fish robot with 2 motor-string actuators was created. If the inner part of tail fin was adequately softer than the outside of that, the fish robot was able to swim fast. It has been shown by PIV measurement that this fish robot with a latex rubber tail fin generates the reverse Karman vortex street as a real swimming fish does. In addition, the authors created a swimming humanoid robot which swam like a dolphin. This swimming robot was able to swim in various ways and the operation sequence of servomotors for better swimming was acquired by the particle swarm optimization (PSO).

DOI： 10.1299/jsmemecjo.2007.6.0_119

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Improvement of the efficiency of passive-type polymer electrolyte fuel cells (passive-type PEFCs) which use hydrogen is one of important subjects for practical use. The authors conceived that it might be possible to improve the efficiency of passive-type PEFCs using the authors' original power control method named Time-Splitting Method (TSM). Using an equivalent circuit model which represents an actual current-voltage curve reasonably well for a passive-type PEFC unit, characteristics of the efficiency of a passive-type PEFC controlled by the TSM have been investigated under various conditions (pulse frequency, external load resistance, duty ratio etc.) and improvement of the efficiency of this PEFC has been confirmed.

CiNii Article

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In other to predict the combustion process in a diesel engine with high boost pressure and high EGR ratio, a method for determining the initial gas compositions was investigated. The compositions were predicted reasonably well by means of zero-dimensional engine combustion simulation using the CHEMKIN code with elementary reactions. Using these initial gas compositions, the combustion process in a diesel engine with high boost pressure and high EGR ratio was numerically analyzed using the authors' GTT code with ignition and combustion models, whose model constants were optimized by the genetic algorithm. By comparing the calculated results with the experimental ones, it has been confirmed that the rate of heat release, cylinder gas pressure and NO emission can be predicted reasonably well.

CiNii Article

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As to three-way catalyzers (TWC) for automobile exhaust gas, further improvement in the purification performance of exhaust gas is required. Therefore it is necessary to optimize the purification characteristics and geometry of the catalyzer. In this study, the authors have created a detailed analytical model to analyze thermo-fluid with chemical reaction in a TWC and carried out three-dimensional numerical simulation of heat, flow and catalytic reaction in the TWC.

CiNii Article

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Gasoline homogeneous charge compression ignition (HCCI) engines can operate with high thermal efficiency and can reduce NOx emission by burning very lean homogeneous mixture at high compression ratio. Therefore, the engines are expected to become practicable as one of next-generation engines. In this study, a reduced elementary reaction scheme for gasoline was proposed, and the ignition and combustion processes and the combustion products in a gasoline HCCI engine were simulated by three-dimensional numerical analysis using the authors' GTT code which was linked to the CHEMKIN subroutines with the proposed chemical kinetic scheme. As a result, the ignition timing, heat release rate, cylinder gas pressure and NO emission at various air-fuel ratios and engine speeds were predicted very well.

CiNii Article

Presentation type：Oral presentation (general)  

In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string, Electric power was fed to each motor intermittently in a programmed sequence by a hybrid power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell, capacitors and a PWM controller. It has been shown that the fish robot can swim like a fish under water when the actuators are operated in an appropriate sequence. It has been found that the capacitors in this power-supply system are requisite for the actuators, because the load on them varies largely when the fish robot swings its body and tail strongly under water.

CiNii Article

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The direct ethanol polymer electrolyte fuel cell (DEFC) is a suitable energy conversion system for recycle-oriented society on the point that it uses the safe bio-fuel, but there exists a problem that its power generation performance is low. One of the causes is the generation and stagnation of by-products in the anode-side passage. In this study, the authors have carried out the numerical analysis of aqueous solution flow and the measurements of its flow and by-product concentrations for investigating the behavior of by-products.

CiNii Article

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Recently, various mobile devices are widespread. However, these devices consume a lot of electric power. From the problem of short duration of batteries, it is required to develop small-size and light-weight fuel cells as the electric power source for them. In this study, in order to improve the performance of hydrogen-fuelled polymer electrolyte fuel cells (PEFCs) of passive type, the authors investigated the effects of the material and structure of the diffusion layer and current collector on the performance of them, and then attempted to make small-size and light-weight passive-type PEFCs on the basis of these results.

CiNii Article

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A hybrid system with passive-type polymer electrolyte fuel cells and electric double layer capacitors was applied to a lightweight electric vehicle. In order to control the outputs from the fuel cells and capacitors appropriately under various running conditions (acceleration, deceleration, etc.), the authors proposed an original power control method named Time-Splitting Method (TSM). Using a fixed experimental apparatus constructed as a model of a lightweight electric vehicle, the operating characteristics of the model vehicle with the hybrid system controlled by the TSM method were measured under various running conditions and the effectiveness of the TSM method was confirmed.

CiNii Article

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In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string. Electric power was fed to each motor intermittently in a programmed sequence by a power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell and a PWM controller. Using the genetic algorithm (GA), it was possible to find the sequence of six actuators for more speedy swimming or that for more efficient swimming. It has been found that the latter sequence of six actuators, which is obviously different from the former one, can swim the fish robot smoothly with less energy consumption.

DOI： 10.1299/jsmemecjo.2005.6.0_95

CiNii Article

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Recently, various mobile devices are widespread. However, these devices consume a lot of electric power. From the problem of short duration of batteries, it is required to develop small-size and light-weight fuel cells as the electric power source for them. The authors had developed a small-size and light-weight passive-type polymer electrolyte fuel cell named "Power Tube". In this study, in order to improve its performance with hydrogen as fuel, the effects of the current collector material and the cell structure on its performance were investigated. Furthermore, the generation characteristics of the cell with bio-fuel were investigated.

DOI： 10.1299/jsmemecjo.2005.3.0_7

CiNii Article

property_type：Patent 

Application no：特願2014-090051 

Patent/Registration no：特許第6504749号 

鋼製パイプの外側面を落下せずに移動するロボット
特願2014-090051

property_type：Patent 

Patent/Registration no：特許第5846516号 

橋梁検査ロボット　特願2012-265386、特願2014-551103

Audience： Schoolchildren,　Parents/Guardians,　Civic organization

Number of participants：30（人）

Audience： Schoolchildren,　Parents/Guardians,　Civic organization

Number of participants：8（人）

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　Scientific organization,　Company

Audience： University students

Audience： Schoolchildren,　Parents/Guardians,　Civic organization

Number of participants：30（人）

Audience： Infants,　Schoolchildren,　Junior high school students,　High school students,　University students,　Graduate students,　Teachers,　Parents/Guardians,　Researchesrs,　General public,　Scientific organization,　Company,　Civic organization,　Governmental agency,　Media

Number of participants：100（人）

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　Scientific organization,　Company

Audience： University students

Audience： Infants,　Schoolchildren,　Junior high school students,　High school students,　University students,　Graduate students,　Teachers,　Parents/Guardians,　Researchesrs,　General public,　Scientific organization,　Company,　Civic organization,　Governmental agency,　Media

Number of participants：100（人）

2020年12月に開催予定として準備を進めてきたが、コロナの盈虚により中止になった。

Audience： High school students,　University students,　Graduate students,　Teachers,　General public

Number of participants：100（人）

Audience： High school students

Audience： High school students,　University students,　Teachers,　General public,　Civic organization

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　General public,　Scientific organization,　Company

Number of participants：100（人）

Audience： Media

Number of participants：3（人）

川﨑直樹学生、有谷拓也学生らとともに3人でインタビューを受けて、その内容が後日、ラジオで放送された。

Audience： Media

魚ロボット　広がる水の世界

Audience： University students,　Graduate students,　Researchesrs,　General public,　Scientific organization,　Company,　Governmental agency

Number of participants：60（人）

主として国際会議運営における会計業務

Audience： Researchesrs,　General public,　Company,　Civic organization,　Governmental agency

「国内で災害時用に開発されているロボットについて」をテーマとして講演した。

Audience： Infants,　Schoolchildren,　Junior high school students,　High school students,　University students,　Graduate students,　Teachers,　Parents/Guardians,　Researchesrs,　General public,　Scientific organization,　Company,　Civic organization,　Governmental agency,　Media

Number of participants：100（人）

2018年5月27日に開催された国際イベント、
水中ロボット競技会の運営、フリースタイル部門の司会、
参加者に対する支援など

Audience： General public,　Company,　Civic organization,　Governmental agency

「インフラ構造物を走行する移動ロボット」のテーマ名で講演

Audience： Junior high school students,　High school students,　University students,　Researchesrs,　General public,　Scientific organization,　Governmental agency,　Media

Number of participants：18（人）

オリンピック選手の支援

Audience： Media

魚ロボットの新聞掲載
ロボット百景4, 獲物を追跡、逃さぬハンター

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　Scientific organization,　Company

Audience： Graduate students

Audience： University students

Audience： High school students

Number of participants：60（人）

きのくに科学オリンピックに出場した高校生らを対象として、自動車と船と飛行機とロボットのしくみに関して、14:00から15:50まで講演した。

Audience： High school students,　University students,　Teachers,　General public,　Civic organization

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　General public,　Scientific organization,　Company,　Civic organization,　Governmental agency

講演会や論文出版に係わる経費の管理および運営、提案

Audience： University students,　Graduate students,　Teachers,　Researchesrs,　General public,　Scientific organization,　Company,　Civic organization,　Governmental agency

2012年4月6日に開催されたオープンラボラトリーにおいて、「高齢者向け介助ロボットによる歩行環境の認識」の題目で発表

平成23年　大阪中学生サマー・セミナー　開設講座
振動の世界へようこそ ～作って、遊んで、楽しもう～
を分担した。

第4回水中ロボットフェスティバルに、ロボットを1体出展した