bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of a Low-Cost, High-Speed Stereo Vision System Using a CMOS Imager and DSP
Authors: Yamashita Makoto ,   Waso-Giken Inc., 579-1 Umehara, Wakayama, Wakayama 640-8550, Japan, Maru Noriaki ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan
Published: April 2016

This article presents the development of a low-cost, high-speed stereo vision system for embedded use employing a mass-produced CMOS imager and a commercially available DSP. We use the system to acquire an image of 96×96 pixels in a period of 1 ms. We embed a read region movement control and a target track function into the system and successfully track a target point within a period of 3 ms. The difference between this high-speed stereo vision system and traditional ones lies in that this system is intended to be used even in a small-scale control system using a microcomputer. We limit the capacity of the image memory in which acquired pixel data is temporarily stored and performed real time processing. As a result, we eliminate frame memory and thus simplify its corresponding circuit. This allows the system to be reduced in size, power consumption, and cost, thereby making the system appropriate for embedded devices, batterypowered robots, and the like.
Guidance and Control of Nursing Care Robot Using Gaze Point Detector and Linear Visual Servoing
Authors: Imasato Akimitsu ,   Shima Seiki Mfg., Ltd., 85 Sakata, Wakayama, Japan, Maru Noriaki ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan
Published: April 2016

The gaze guidance and control we propose for a nursing robot uses a gaze point detector (GPD) and linear visual servoing (LVS). The robot captures stereo camera images, presents them via a head-mounted display (HMD) to the user, calculates the user’s gaze tracked by the camera, and moves to gaze of the LVS. Since in the proposal, persons requiring nursing share the robot’s field of view via the GPD, the closer they get to the target, the more accurate control becomes. The GPD, on the user’s head, has an HMD and a CCD camera.
Special Issue on Pneumatics for Innovative Machine Design
Authors: Noritsugu Toshiro
Published: April 2016

Pneumatics has greatly progressed as convenient multifunctional automation technology. One typical application is in compact light-weight highperformance pneumatic actuators. The introduction of control theory has also enabled useful pneumatic servosystems. New actuators include pneumatic artificial rubber muscles, which are small, light-weight, and soft. These are used for applications in the medical, welfare, and nursing fields. This special issue focuses on actuator development in drive-circuit analysis and design. Issues in these areas include pneumatic actuators, pneumatic rubber muscles, pneumatic circuit analysis and design, energy-saving, pneumatic servocontrol, advanced control systems, industrial applications, automation, vehicles, entertainment, medical, welfare and nursing applications, and education. This special 13-article issue is divided into (i) control design and pneumatic cylinder and bellows applications and (ii) the development and applications of soft pneumatic actuators. Some types of soft pneumatic actuators use artificial rubber muscles for welfare and rehabilitation equipment. This special issue should prove useful in understanding state-of-the-art of pneumatic technology applicable to analysis, design, control, and application in innovative machine design. I would like to express my sincere appreciation to all of the authors and reviewers for their invaluable effort.
Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator Based on EMG Signal
Authors: Takaiwa Masahiro ,   The Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kitaku, Okayama 700-8530, Japan, Noritsugu Toshiro , Ito Norimichi , Sasaki Daisuke
Published: April 2016

In this study, we focus on a rehabilitation motion of human wrist joint and aim at supporting these rehabilitation training by introducing a mechanical system. A pneumatic parallel manipulator is introduced since it can drive enough D.O.F to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility. We propose a new training method for a muscle strengthening training based on ElectroMyoGraphy (EMG), where a payload is set between joint angle and the muscle we want to train directly. In addition, we propose a method to detect muscle fatigue based on a frequency analysis of EMG. The effectiveness of the proposed method is confirmed through some experiments.
Integrated Control Design of Pneumatic Servo Table Considering the Dynamics of Pipelines and Servo Valve
Authors: Li Jun ,   Tokyo Institute of Technology, 4259 R2-46, Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan, Choi Joonmyeong , Kawashima Kenji , Fujita Toshinori , Kagawa Toshiharu ,   Tokyo Denki University, 2-2 Kanda-nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan
Published: April 2016

In this paper, integrated control design for the pneumatic servo table system considering the dynamics of pipelines and servo valve is studied. The table is mainly composed by a pneumatic actuator, a highperformance pneumatic servo valve and pipelines. The pneumatic actuator utilizes a pneumatic cylinder with air bearings. The servo valve has high dynamics up to 300 Hz and is connected to the pneumatic actuator by pipelines. The system is pneumatically driven, providing the advantages of low heat generation and non-magnetic, nature suited to precise positioning. To simulate the system, we designed a linear model considering pipelines and servo valve dynamics. Comparison results showed that with a 7thorder linear model, the discrepancy between experiment and simulation results was much smaller than when using a 3rdorder model. The model’s complexity made it necessary to reduce the model’s order. Two poles are much further from the imaginary axis compared with other five poles in the pole loci of the 7thorder model, so the model is reduced to a 5thorder. A comparison of simulation and experiment results showed that the 5thorder model matches the real system well.
Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System
Authors: Kosaki Takahiro ,   Department of Systems Engineering, Hiroshima City University, 3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima 731-3194, Japan, Sano Manabu
Published: April 2016

The nonlinear pressure observer this paper presents for pneumatic systems and observer-based approaches for controlling position and stiffness eliminate the need for pressure and force sensors. The observer estimates pressure in the pneumatic actuator chamber, acting instead of a sensor in a pressure-feedbackbased system. Conventional single-loop controllers are inadequate for pneumatic actuators because such actuators have high nonlinearities such as air compressibility and friction. Most advanced controllers providing better performance require full-state feedback, and using sensors to acquire data makes pneumatic control systems less cost-competitive than electric control systems. Combining our proposed pressure observer with other observers enables a position and stiffness control system to be designed for a two degree-of-freedom pneumatic manipulator. Force caused in contact between the manipulator and an external object can be obtained without using force sensors. Experimental results show that our observerbased approach reduces cost, enables high estimation performance, and ensures high control accuracy.
Power-Assist Chair Using Pneumatic Actuator
Authors: Sanada Kazushi ,   Department of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama City, Kanagawa 240-8501, Japan, Akiyama Yuki ,   Mechanical Engineering Research Laboratory, Hitachi, Ltd., 832-2 Horiguchi, Hitachinaka-City, Ibaragi 312-0034, Japan
Published: April 2016

The power-assist chair we propose helps the user stand from a sitting position in the chair and sit down. The pneumatic cylinder pushes the seat up. The seat angle is detected by a rotary potentiometer and force acting on the user’s foot is measured by a force sensor. These signals are input to a computer and cylinder pressure is controlled so the seat simulates a spring. We also propose the concept of motion-sensing control based on real-time modification of a nominal seatangle pattern that, in turn, is based on the difference between a nominal pattern and the actual pattern of the foot force. A pneumatic simulation model was built to ensure power-assist chair use motion-sensing control. Experiment and simulation confirmed that the power-assist chair’s motion-sensing control operated as intended.
Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices
Authors: Wakimoto Shuichi ,   Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama, Japan, Kumagai Issei , Suzumori Koichi
Published: April 2016

Colonoscopy is important and effective medical procedure to detect colonic disorder including cancer of the colon. However, because the large intestine is soft and complex shape, insertion of conventional colonoscopes into the large intestine is difficult, and it depends on doctors’ skill strongly. In many cases, patients feel strong pain. In this research, we aim at development of a novel colonoscope which can change own stiffness partially and realize safe insertion without special techniques. The colonoscope consists of variable stiffness devices. The device is made from silicone rubber and can change its stiffness by pneumatic pressure. In this report, two kinds of variable stiffness devices made from different silicone rubber materials have been developed by molding, and stiffness change characteristics of them are shown experimentally. By applying not only positive pneumatic pressure but also negative pressure, widely stiffness change range is realized. Additionally colonoscopes have been fabricated using them and FMA (Flexible Microactuator). From insertion experiments into the large intestine phantom, advantages and effectiveness have been recognized.
Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing
Authors: Inoue Yukinari ,   Noritsu Kouki Co. Ltd., 579-1 Umehara, Wakayama, Wakayama, Japan, Maru Noriaki ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan
Published: April 2016

Quadruped robots walking in discrete environments conventionally control leg swinging using either simple potentiometer-based feedback or feed forward. We think accurate positioning control for a safe landing using visual servoing is required. Conventional visual servoing, however, has problems such as requiring complex nonlinear calculation with exact camera and joint angles. To solve these problems, we propose Linear Visual Servoing (LVS) for positioning the quadruped robot leg in a gait. We show that the robot can make minor adjustments despite error between planned and safe landing points.
A Higher-Order Formula of Path Interval for Tool-Path Generation
Authors: Obikawa Toshiyuki ,   Institute of Industrial Science, the University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Sekine Tsutomu ,   Department of Mechanical Engineering, College of Science and Technology, Nihon University, 1-8-14 Kanda-Surugadai, Chiyoda-ku, Tokyo 101-8308, Japan
Published: April 2016

This paper presents a novel fourth-order formula for determining path intervals and comprehensively considers path interval formulas. In tool-path generation, a path interval is generally formulated as a scallopheight polynomial. Controlling scallop height in mechanical machining improves surface roughness or machining efficiency. We derived a novel fourth-order formula for determining path intervals after reviewing several formulas, then compared formulas. This clarified the differences between path interval formulas with graphic evidence. In micromechanical machining, an approximate expression has an advantage in computational cost but a disadvantage in accuracy. Although our proposed formula includes the fourth order-term scallop height, it requires low computational cost and can be applied to the determining path intervals for free-form surfaces in micromechanical machining. In addition, a correction method of the surface roughness on a free-form surface measured with a profilometer was proposed.
Compensation of Thermo-Dependent Machine Tool Deformations Due to Spindle Load Based on Reduced Modeling Effort
Authors: Brecher Christian ,   Laboratory for Machine Tools and Production Engineering, RWTH Aachen University, Manfred-Weck Haus, 19 Steinbachstrasse, Aachen 52074, Germany, Wissmann Adam
Published: April 2016

This paper presents the continuance of the scientific work on compensation of thermo-dependent machine tool deformations due to spindle load in consideration of rough machining. After the development of an indirect compensation method, based on a transfer function using a third order time delay element, further works have been focused on the reduction of the modeling effort. The reduction of the modeling effort makes the developed compensation approach suitable for the industry. The thermo-dependent behavior of machine tools is strongly non-linear. Hence, modeling in several operating points is essential. Primarily, the investigated machine tool wasmodeled by using six spindle speed levels. Due to different possible torques at every speed level, the power spectrum of the spindle was divided into four power levels. Thus, the starting point was the modeling of thermo-dependent machine tool deformation by executing 24 experiments. The appropriate compensation results were very satisfactory. The aim of the presented work is a compensation result of similar performance achieved by noticeable lower modeling effort. In the first step, the thermal behavior of the investigated milling machine is analyzed. The analysis affects the choice of adequate speed and power levels for modeling. According to previous results, the chosen transfer function is a third order time delay element. The performance of the compensation method based on a reduced number of models is validated on two different speed / power spectra. The final comparison of the compensation results regarding root mean square errors presents the benefit.
Instability Phenomenon in Dip-Coating Process for Self-Assembly of Fine Particles and Design Countermeasures
Authors: Nishio Manabu ,   Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 181-0065, Japan, Moronuki Nobuyuki , Kaneko Arata
Published: April 2016

The self-assembly of fine particles is a promising process for the production of nano-structures. In this process, aqueous suspension is often used. The spreading of the suspension on the substrate is a complex phenomenon that sometimes causes problems of instability. This paper discusses the instability phenomenon and proposes countermeasures from various aspects. It was found that special attention should be paid to the pattern design of site-selective assembly. Finally, complex structures made of particles of different sizes and materials are shown to demonstrate the improved stability after repeated dip-coating.
Measurement and Decapsulation of IC Molding Resin Using YAG Laser for Failure Analysis
Authors: Kasashima Nagayoshi ,   Ingenious Micro-Manufacturing System Group, Advanced Manufacturing Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba East, 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan, Kurita Tsuneo
Published: April 2016

We are now developing a laser decapsulation technique of IC molding resin for failure analysis. Laser machining shortens decapsulation process time and reduces adverse environment effects compared to conventional etching methods. However, pure laser decapsulation cannot avoid the damage of IC chips. Therefore, it is necessary to leave molding resin on the chip surface. In this paper, the decapsulation experiment results using a YAG laser are described. In addition, to estimate residual molding thickness, the method of measuring laser light-reflection intensity is proposed. The relation between molding thickness and light-reflection intensity was examined by irradiating a low-output processing laser. And the results of measurement and decapsulation experiments using an experimental system are also described.
Flexible Process Planning Method for Milling
Authors: Morinaga Eiji ,   Division of Materials & Manufacturing Science, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Yamada Masayuki , Wakamatsu Hidefumi , Arai Eiji ,   Mitsubishi Electric Corporation
Published: April 2016

This paper concerns the development of flexible Computer-Aided Process Planning (CAPP). In the agile manufacturing which has been strongly promoted, manufacturing situation changes dynamically. Therefore, the CAPP method which can be adaptable to these dynamic changes is required. From this point of view, there has been the method which is mainly composed of the following three steps – (i) decomposing the Total Removal Volume (TRV), (ii) recomposing parts obtained by decomposition, and (iii) extracting an optimal set of parts. Steps (i) and (ii) require a high computational load. We propose solving this problem by focusing on concave parts of the TRV in decomposition. The proposed method is also enhanced toward the multiaxis milling processes. A case study demonstrates the feasibility and effectiveness of our proposal.
Comparison of Pose Correspondence Methods of Master-Slave Manipulators for Neurosurgical Robotic Systems
Authors: Yonemura Tsubasa ,   Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Kozuka Yasuhide , Baek Young Min , Sugita Naohiko , Morita Akio , Sora Shigeo , Mochizuki Ryo , Mitsuishi Mamoru ,   Kanto Medical Center NTT EC, 5-9-22 Higashi Gotanda, Shinagawa-ku, Tokyo, Japan,   Tokyo Metropolitan Police Hospital, 4-22-1 Nakano, Nakano-ku, Tokyo, Japan,   ASMITAS Technology Inc., 1-4-43 Kita-inter Kogyodanchi, Hachinohe, Aomori-ken, Japan
Published: April 2016

Performing microsurgery in the field of neurosurgery is very challenging because neurosurgeons have to suture fine vessels by maneuvering long, thin surgical instruments inserted through a small hole in the skull. In order to assist neurosurgeons, a novel master-slave surgical robotic system has been developed. The objective of the surgical robotic system is to assist neurosurgeons in performing micro surgery in deep surgical fields by providing high dexterity. However, a method of correspondence between master and slave manipulators has not yet been studied, though this is strongly related to the operability and usability of robotic surgery. In this paper, we propose two pose correspondence methods for the master and slave manipulators, axis-based relative pose correspondence and vector-based absolute pose correspondence, and their usability and operability are verified by performing pointing and suturing tasks. The experimental results show that there is a trade-off between the two correspondence methods in terms of time, length of trajectory, and the singular point problem.
Trajectory Control of Pneumatic Servo Table with Air Bearing
Authors: Li Jun ,   Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan, Tadano Kotaro , Kawashima Kenji , Fujita Toshinori , Kagawa Toshiharu ,   Tokyo Denki University, 2-2 Kanda-nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan
Published: April 2016

This paper proposes a trajectory control design for a pneumatic servo table system. The control design takes into consideration the dynamics of the pneumatic actuator, connected pipeline and servo valve. The system is mainly composed of a pneumatic actuator, high-performance pneumatic servo valves and pipelines. The pneumatic actuator utilizes a pneumatic cylinder with air bearing. The servo valve, which has high dynamics up to 300 Hz, is connected to the pneumatic actuator by pipelines. A linear model which takes into consideration the dynamics of the pipeline and servo valve is designed to simulate the system. Experiment results suggest that with 7thorder control model the system can be accurately represented. However, a low-dimensional model is necessary for practical use. The analysis shows that in the pole loci of the 7thorder model, two poles are much farther from the imaginary axis than are the other five poles. Therefore, the model can be reduced to one of the 5thorder. By comparing the simulation and experiment results, we confirm that the 5thorder model can also match the system well. Based on this result, a 5thorder feed forward has been designed. When a curve which can be derived five times is inputted, the experiment results show that the maximum trajectory error has been reduced by 20 µm.
Prototype of Manipulator for Micro Objects Employing AZARASHI (Seal) Mechanism as Mobile Platforms
Authors: Furutani Katsushi ,   Department of Advanced Science and Technology, Toyota Technological Institute, 12-1 Hisakata 2-chome, Tempaku-ku, Nagoya 468-8511, Japan, Makino Taizo
Published: April 2016

This paper deals with an application of a small mobile device, “AZARASHI (seal) Mechanism” to a micromanipulation device. Pick-and-place tasks are very important in small-size-part manufacturing, printedcircuit board testing and biotechnological operations. A prototype of themicromanipulation device with four degrees of freedom was built. The device consists of an L-shaped AZARASHI device for thex-,y- and θ- motions, and a one-degree-of-freedom device used for thez-motion as mobile platforms. By an automatic sequence under visual feedback, glass beads were manipulated. A bright point observed with a videomicroscope was used instead of a target marker to position the stage for flexible usage. In order to trap a small glass bead, the air was gently sucked through a glass capillary. The stage was controlled to track the bright point by a binary image. Then the bead was placed by releasing the pressure to atmospheric one. Error factors were discussed through the evaluation of each step. The positioning accuracy of the stage was within 1 pixel. Adhesion of the beads on the capillary mainly decreased the total positioning accuracy.
Optical Analysis of an Optical Probe for Three-Dimensional Position Detection of Micro-Objects
Authors: Jang SungHo ,   Nano-Metrology and Control Laboratory, Department of Nanomechanics, Tohoku University, 6-6-01 Aramaki, Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Asai Takemi , Shimizu Yuki , Gao Wei
Published: April 2016

In this paper, the relationship between the photodetector outputs and the three-dimensional (3D) positioning of a micro-object in an optical probe is first analyzed based on geometric optics. In the optical model established for the analysis, a collimated laser beam is focused by an objective lens to generate a small beam spot at the focal position and a thin and rectangular micro-object is set close to the focal position. The influence of diffraction of the laser beam is investigated based on a model based on wave optics.
Use of AR / VR in Micro Manipulation Support System for Recognition of Monocular Microscopic Images
Authors: Misaki Daigo ,   Department of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan, Kurokawa Ryuhei , Nakajima Satoshi , Koshimizu Shigeomi ,   Advanced Institute of Industrial Technology
Published: April 2016

This study researches the use of Augmented Reality / Virtual Reality (AR / VR) in an affordable and highly flexible micro manipulation system for the recognition of microscopic images, images that support microscopic manipulation in the interface between the manipulation space and the operator. The application of AR / VR usually requires sensing of the manipulation space with more than one microscope or sensor, not only making the system more complex and costly but also making the manipulation space under the microscope smaller. In this research, therefore, we use the background finite-difference method with background models for monocular microscopic images of the manipulation space; we can build up information needed formanipulation support with AR / VR while removing the effects of any disturbance to the recognition of the manipulation space. We also use liquid bridging forces for the manipulations. The experimental results confirmthat the information processing of the image processing method used in this research is adequate in both terms of accuracy and time efficiency to support microscopic manipulation using liquid bridging forces.
Feed Drive Simulator
Authors: Sato Ryuta ,   Department of Mechanical Engineering, Kobe Unibersity, 1-1 Rokko-dai, Nada, Kobe, Hyogo 657-8501, Japan
Published: April 2016

Feed drive systems consisting of servo motors and ball screws are generally used with NC machine tools, wire bonders, tip mounters, etc. Higher speed and accuracy are continuously required to the feed drive systems. In order to achieve higher performance of the systems, it is effective to analyze the dynamic behaviors using simulations. This study proposes a feed drive simulator consists of parameter identification and simulation modules. The parameter identification module consists of 3 sub-modules; identification system for friction forces, identification system for frequency response, and identification system for electric delay. The identification algorithms for unknown parameters are newly proposed. The simulation module is based on a mathematical model which consists of mass, inertias, stiffness, damping, frictions, servo gains, electrical delay, and control frequency. The simulation module also has a servo tuning function. The simulator, which includes a Graphical User Interface (GUI) was developed using Visual C++. Actual feed drive systems were used to confirm the effectiveness of the simulator. It was confirmed that the simulator identifies parameters systematically, simulates physical values for different motions, and automatically determines servo gains based on the parameters identified.
Three Dimensional Attitude Control of an Underactuated Satellite with Thrusters
Authors: Yoshimura Yasuhiro ,   Department of Aeronautics and Astronautics, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, Japan, Matsuno Takashi , Hokamoto Shinji
Published: April 2016

This paper deals with the three-dimensional attitude control of an underactuated satellite equipped with thrusters whose force directions are fixed to the satellite. First, the necessary number of thrusters for the satellite’s attitude control is discussed utilizing the Minkowski-Farkas theorem. Then, using the wzparameters for a satellite’s attitude expression, this paper proposes a nonholonomic attitude controller which is effective for any satellite regardless of its moment of inertia. Numerical simulation demonstrates the effectiveness of the proposed controller. Furthermore, the efficiency of the controller for different thruster positions is also discussed.
Virtual Force Field Based of Force-Feedback of Road Condition for Driving Assistant Design in Electric Vehicle
Authors: Carlier Jerome ,   Murakami Toshiyuki Laboratory, Keio University, 3-14-1 Hiyoshi, Kohokuku, Yokohama, Kanagawa 223-8522, Japan, Murakami Toshiyuki
Published: April 2016

Most of the common road accidents are due to the driver’s inappropriate behavior, lack of attention, tiredness, and road conditions which usually cause the vehicle to deviate from the roadway or crash into others. Although, thanks to the Steer-by-Wire system, recent research showed that is now possible to enhance vehicles’ manipulability and users’ safety by stimulating the drivers to react efficiently in common and critical situations. This paper describes a new strategy to assist the driver in his trajectories’ planning on a multiple-lane highway. A driving assistant is here designed to give appropriate and continuous tactile feedbacks generated from a virtual force field present in the roadway’s environment. First, the assistant algorithm global structure is presented. Then, a road condition dependant virtual force field based driving input is designed in order to avoid road deviations as well as to enhance safety in presence of potentially dangerous road conditions, as lack of adherence and visibility. The performance of the system is evaluated firstly through preliminary simulations, and then confirmed on a driving simulator.
Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area
Authors: Okawa Kazuya ,   Mechanical System Science Course, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan, Okamura Yoshihiro
Published: April 2016

This paper describes a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by general parallel mechanism with ball joints is about 55 degrees because of the limitations in the angles of those joints. Therefore, a novel parallel mechanism that will replace ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link compositions: an outside type, an inside type and a combination type are proposed. The transmission index is investigated on these three types, and it has been understood that the combination type is able to move in the widest area. It was confirmed that the inclination angle of the end effector can go up to 90 degrees by simulations and experiments that proved effectiveness.
The Reliable Design and Implementation of an Automatic Glass Furnace Feeding Robot for the SME Glass Industry
Authors: Yuan Jianjun ,   Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240, China, Zhang Weijun , Li Qiang
Published: April 2016

This paper is a technical report which discusses a selfdeveloped automatic robot (machine) for glass furnace feeding. It was designed for use in a small-scale glass industry, in which most factories are still feeding small, old fashioned furnaces manually. The huge robot discussed in this paper is intended to substitute for exhausted workers. It was designed with four degrees of freedom and a planar manipulator structure, including X-axis and Y-axis translations, Z-axis rotation, and a belt scrolling motion for feeding the granular glass material into the furnace. The development and implementation of the mechanical and control systems are analyzed, including design considerations, motion using the teaching playback method, and feeding path planning. To ensure system safety and reliability, the necessity and the design of a redundant control systemare presented. Finally, the feeding quantity and quality control are discussed. Unlike other feeding machines, the robot fully utilizes robotic control components and technologies, which is considered another approach to real robotics application.
Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot
Authors: Wu Wei ,   Graduate School of Engineering, Doshisha University, 1-3 Tataramiyakodani, Kyotanabe-shi, Kyoto 610-0394, Japan, Hirogaki Toshiki , Aoyama Eiichi ,   Faculty of Science and Engineering, Doshisha University
Published: April 2016

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.
Evaluation of and Compensation for Thermal Deformation in a Compact CNC Lathe
Authors: Tachiya Hiroshi ,   Faculty of Mechanical Engineering, Institute of Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan, Hirata Hiroki , Ueno Takayuki , Kaneko Yoshiyuki , Nakagaki Katsuhiro , Ishino Yoshiaki ,   Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan,   Aisin Seiki Corp., 726 IzumiAI 1-1 Izumi-cho shozisaku, Anjo, Aichi, Japan,   Takamatsu Machinery, 1-8 Asahigaoka, Hakusan-City, Ishikawa 924-8558, Japan
Published: April 2016

Because heat sources for compact Computer Numerically Controlled (CNC) lathes are likely to be closely arranged, they may cause large and complicated thermal deformation. Previously, we developed a CNC lathe with its heat sources arranged so as to reduce thermal deformation. This lathe achieved highprecision work under stable temperatures in continuous operation. However, in some cases, it could cause rapid thermal deformation. Previously, we proposed a simple method to compensate for the thermal deformation in CNC lathes by measuring temperatures at only a few points. By developing amodified compensation method capable of estimating minute and complicated thermal deformation and applying this method to the current lathe, processing accuracy will become more precise. Thus, we evaluated the thermal deformation of a compact CNC lathe. As a result, we found that the thermal deformation of the lathe was caused not only by movable parts, such as the spindle motor, but also by non-movable parts, such as the hydraulic unit. We therefore approximated the thermal deformation caused by the non-movable parts and estimated the change in the deformation caused only by the movable parts. This enabled us to express the thermal deformation by a simple linear equation, the form of which was same as that used for previous lathes. From these results, we were able to compensate for the thermal deformation using approximate equations for both movable and non-movable parts and we applied this method to the current lathe. We confirmed that the work error can be reduced under stable conditions using this method.
Observation of Thermal Influence on Error Motions of Rotary Axes on a Five-Axis Machine Tool by Static R-Test
Authors: Hong Cefu ,   Department of Micro Engineering, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Ibaraki Soichi
Published: April 2016

Thermal distortions are regarded as one of the major error factors in machine tools. ISO 230-3 and ISO 10791-10 describe tests to evaluate the influence of thermal distortions caused by linear motion and spindle rotation on the Tool Center Position (TCP). However, for five-axis machine tools, no thermal test is described for a rotary axis. Therefore, in this paper, a method for observing thermally induced geometric errors of a rotary axis with a static R-test is proposed. Unlike conventional thermal tests in ISO 230-3 and ISO 10791-10, where the thermal influence on the positioning error at a single point is tested, the present test measures the thermal influence on the error motions of a rotary axis. The R-test measurement clarifies how the error motions of a rotary table change with the rotation of a swiveling axis and how they are influenced by thermal changes. The thermal influence on the error motions of a rotary axis is quantitatively parameterized by geometric errors that vary with time.
Modeling of Schedule-Based Path Planning for Automated Vehicles Guided by Uni-Directed Rails
Authors: Hino Rei ,   Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Tsuji Hiroki
Published: April 2016

The aim of this paper is to construct a specialized method of path planning for transportation in a conveyance system composed of automated vehicles running on uni-directional rails in a manufacturing factory. In the conveyance system, there exist redundant rails in addition to the rails that directly connect any two production resources. Every vehicle is permitted to run on roundabout rails to avoid other vehicles stopped on the rail in front of the production resource, thus allowing it to arrive at its destination in a shorter time. The adoption of roundabout rails creates multiple candidates for the transportation path between two resources, and the performance of the conveyance system depends on the path that is selected. In the present paper, a new set of formulations is defined to describe the movements of the vehicles, and the conveyance plans are represented on a Gantt chart as a future schedule for all vehicles. The defined formulations give the exact scheduled time at both edges of the rail, i.e., they neglect the status of the vehicles between nodes. We also explain a practical path-planning procedure to generate an appropriate path through the adoption of Dijkstra’s algorithm, referring to the times represented on the Gantt chart, and the validity of the procedure is examined by computational simulation.
Analysis of Key Success Factors for Eco-Business Through Case Studies in Japan
Authors: Kondoh Shinsuke ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, Ibaraki, Japan, Kurakawa Kei , Kato Satoru , Umeda Yasushi , Takata Shozo ,   National Institute of Informatics, Tokyo, Japan,   Nagoya Sangyo University, 3255-5 Araicho-Yamanota, Owariasahi, Aichi, Japan,   Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka, Japan,   Waseda University, 3-4-1 Ohkubo, Shinjuku-ku, Tokyo, Japan
Published: April 2016

In order to solve environmental problems, a transition from conventional business to environmentally conscious business (eco-business) is urgently needed. Support for finding eco-business ideas will help to promote this transition. As a step in this direction, this paper takes an approach that provides a business designer with general rules and prerequisites extracted from existing eco-businesses. This paper collects 130 examples of eco-businesses in Japan and then investigates and classifies them to develop general guidelines and checklists for success. As a result, four kinds of customer value provided by eco-businesses, eight rules that couple the the reduction of environmental load of society with the four customer values, and eight rules for cutting business costs are derived. A tool for planning a new eco-businesses is also proposed.
A Simulation System to Analyze Effects of Relocation of Machine Tools on Supply Chain Robustness
Authors: Komoto Hitoshi ,   Advanced Manufacturing Research Institute, National Institute of Advanced Industrial Science and Technology, Namiki 1-2, Tsukuba, Ibaraki 305-8564, Japan, Mishima Nozomu ,   Cooperative Major in Life Cycle Design Engineering, Graduate School of Engineering and Resource Science, Akita University, 1-1 Tegatagakuen-machi, Akita-shi, Akita 010-8502, Japan
Published: April 2016

Supply chains of modern complex systems need to keep up with the globalization of module and component suppliers to cope with resource restrictions, economic disparities, and rigorous environmental legislations. Robustness against variations in manufacturing tasks under undesirable situations is a crucial capability of global supply chains. Flexible and portable facilities can be shared among suppliers to increase supply chain robustness. This study proposes a system for modeling and simulating a supply chain in which portable machine tools are shared among the suppliers and relocated in order to adapt to machine tool breakdowns and manufacturing volume excesses. The system supports complex decision making in terms of the logistics of these machine tools with a view to decreasing the average completion time of manufacturing tasks without adding machine tools into the supply chain as a whole.
An Algorithmic Approach to Streamlining Product Carbon Footprint Quantification: A Case Study on Sheet Metal Parts
Authors: Ng Ruisheng ,   Singapore Institute of Manufacturing Technology (SIMTech), 71 Nanyang Drive, Singapore 638075, Yeo Zhiquan , Shi Chee Wai Patrick , Rugrungruang Fatida , Song Bin
Published: April 2016

Sustainable manufacturing is increasingly being recognized as the direction for technological innovation and implementation in industry. However, to measure and guide technology conceptualization, development, and deployment decisions, a quantifying indicator that is easy to understand is required. The carbon footprint (CFP) is found to be an effective indicator, as its value reflects essential elements of sustainability in manufacturing: materials, energy, and waste treatment. The existing standards provide a general framework to guide CFP quantification but lack explicit formulas for easy adoption. This paper presents an algorithmic approach that aims to granularize the emission source to streamline CFP quantification. This approach pinpoints the direct and indirect contributions and the respective task owners, decentralizes the responsibilities in data collection, and ascertains the degree of control to set realistic targets for CFP reductions. A case study is carried out in a manufacturer of sheet metal parts. Results show that indirect emissions from materials, energy, and transport collectively contribute 27% of product CFP.With the algorithmic approach, carbon reduction strategies can be formulated by setting priorities and realistic targets and then delegating to the task owners the reduction of the CFP of their respective areas. The current work establishes a base that can help companies to adopt CFP quantification and formulate carbon reduction strategies.
Multi-Objective Production and Transportation Scheduling Considering Carbon Dioxide Emissions Reductions in Dynamic Supply Chains
Authors: Tanimizu Yoshitaka ,   Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka 599-8531, Japan, Amano Katuhumi , Harada Kana , Ozawa Chisato , Sugimura Nobuhiro
Published: April 2016

Previous studies have proposed a dynamic configuration method for two-layered supply chains consisting of a set of clients and suppliers. The proposed method provides suitable delivery times and prices of products through the modification process of production schedules of the suppliers and the negotiation process between the clients and the suppliers in consideration of transportation constraints. This research proposes a new supply chain model extended for carbon dioxide emissions reductions in the two-layered dynamic supply chains. The suppliers provide transportation plans to reduce carbon dioxide emissions in transportation processes without losing chances to enter into a large number contracts with the clients. The effectiveness of the proposed model is verified through computational experiments from the viewpoints of both the amount of carbon dioxide emitted in transportation processes and the profits of the suppliers.
Special Issue on Sustainable Design for Hydraulic Systems
Authors: Tanaka Yutaka , Yoshinada Hiroshi
Published: April 2016

Given the high human impact on the environment, whether intentional or not, the world now faces a situation in which industrial development cannot proceed further without harmony among human beings and the environment. Hydraulic technologies have matured in the last decade and new technologies have emerged related to information technology, energy saving, mechatronics, and water hydraulics. It is our view that innovations in hydraulic technology involving sustainable design for hydraulic systems are essential for sustainably developing fluid power technology. One reason for this special issue on Sustainable Design for Hydraulic Systems is to encourage incremental breakthroughs in research based upon existing foundations. Another reason is to expand coordination and cooperation among academic and industrial researchers and institutions to realize these innovations. This special issue covers recent developments in hydraulic technologies, including water hydraulics and functional fluids, basic research, applications and case studies. State-of-the-art papers on hydraulic systems and components place special emphasis on industrial applications and their engineering background. All of the papers in this special issue are of great interest and value in sustainably designing fluid power systems, and we are sure that these papers will contribute much to the further development of fluid power technology. We sincerely thank the authors for their submissions and the reviewers for their invaluable efforts, without which this special issue would not have been possible. We are most grateful to all who have contributed their time and effort to ensuring the success of this special issue.
Optimization of Bubble Eliminator Through Numerical and Experimental Investigation
Authors: Sakama Sayako ,   Hosei University, 2-17-1 Fujimi, Chiyodaku, Tokyo 102-8160, Japan, Tanaka Yutaka , Suzuki Ryushi ,   Opus System Inc., 3-18-7 Asagayaminami, Suginamiku, Tokyo 166-0004, Japan
Published: April 2016

Air bubbles in working oil affect the stiffness and efficiency of hydraulic systems; thus it is important for technical issues that air bubbles be actively eliminated from the hydraulic oil. A bubble eliminator is a device that uses a swirl flow to remove air bubbles. The shape of the device affects bubble elimination performance, so the selection of shape is the most important parameter in increasing the performance of the device. The purpose of this study is to design a bubble eliminator with an optimal shape. This paper discusses the validity of numerical simulation by comparing, using various diameters of the vent port, the numerical results with the results of the experimental flow visualization. Moreover, we focus on the length of the inlet tube and tapered tube of the bubble eliminator and establish a method of selecting them.
Using a Kalman Filter to Estimate Unsteady Flow
Authors: Sanada Kazushi ,   Yokohama National University, 79-5 Tokiwadai, Hodogaya, Yokohama, Kanagawa 240-8501, Japan
Published: April 2016

A Kalman filter that estimates incompressible unsteady flow in a pipe is proposed in this paper. It is a steady-state Kalman filter based on amodel of pipeline dynamics, that is, an optimized finite element model developed by the author. Pressure signals at both ends of a target section of a pipe are input to the model of pipeline dynamics, and, as an output of the model, an estimated pressure signal at a mid-point in the pipe is obtained. The deviation between a measured and an estimated pressure signal at the mid-point is fed back to the dynamic model of the pipeline to modify state variables of the model, which are pressure and flow rate along the pipe. According to the Kalman filter principle, the state variables of the model are modified as to converge to real values. The Kalman filter is examined by experiment using an oil-hydraulic circuit. The unsteady flow and unsteady pressure of a delivery port of an oil-hydraulic pump are estimated by the Kalman filter. The performance of the Kalman filter is demonstrated, and its bandwidth is discussed.