JaLCDOI 10.18926/17835
FullText URL Mem_Fac_Eng_OU_43_32.pdf
Author Mabuchi, Shuji| Konishi, Masami| Imai, Jun|
Abstract A tractor-trailer vehicle in the factory might move on the route determined beforehand. However, automation of a tractor-trailer vehicle is difficult so that it is necessary to consider the nonlinearity of a vehicle and a trailer. In this research, the effective tracking control method of a tractor-trailer vehicle is proposed. The control method using time-state control form for a preview control is presented, and be applied a tractor-trailer vehicle with nonholonomic characteristics. Results of numerical experiments are presented to check effectiveness of the proposed control method.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 32
End Page 38
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308736
JaLCDOI 10.18926/17837
FullText URL Mem_Fac_Eng_OU_43_39.pdf
Author Kuwashima, Takayuki| Imai, Jun| Konishi, Masami|
Abstract This paper presents method of the controller design for one link arm with parametric uncertainty. Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor and cost saving or improvement of the productivity. Such robots need to have positioning performance of high precision. In condition that there is an uncertainty in plant dynamics, desired control performance may not be attained because the controller is designed according to the mathematical model of a plant. So it is important that the designed control system have a robust control performance. In this paper, the robust controller is designed using Quantitative Feedback Theory (QFT) for one link arm with parametric uncertainty. Simulation experiments are run for control system designed by using QFT and conventional method. The results are compared with each other and it is found that the control system designed by QFT shows a robust performance and can suppress the unevenness of output against parametric uncertainty.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 39
End Page 48
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308875
JaLCDOI 10.18926/17839
FullText URL Mem_Fac_Eng_OU_43_49.pdf
Author Akamatsu, Shinya| Konishi, Masami| Imai, Jun|
Abstract In this paper, the controlled target is the SCARA robot with two links, and the object is fine control of the arm head position of the robot. To attain the object, Internal Model Control (IMC) is introduced. A nonlinear equations are for robot dynamics formulated by solving Lagrange equation, and is linearized to design control system by IMC. The controller of IMC is designed or synthesisted as the inverse system of the linearized model, and IMC filter model is selected. Also, reference filter is introduced to make the improvement of performance. The result of control performance by IMC is compared with that of PID numerically, accuracy and incoherency are confirmed.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 49
End Page 54
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308854
JaLCDOI 10.18926/17841
FullText URL Mem_Fac_Eng_OU_43_55.pdf
Author Inoue, Shinichiro| Konishi, Masami| Imai, Jun|
Abstract In this research, an image processing method and a system for inspection support of a rod figured cutting tool are developed. As is well known, the visual inspection of a cutting tool by image processing is not easy, because cutting blade have a helical blade structure. To cope with the problem, an experimental facility with rotation and longitudinal tool shift functions to enable acquisition of blade surface pictures along a cutting rod is developed. The type of the defect treated in this paper is the spot of coating on blade surface. To judge the quality of the processed image of blade surface, neural network with autonomous learning is used. The processed image of cutting tool is divided into 64 × 64 blocks used for the input to the neural networks. Before input, each block data is preprocessed applying a edge detection filter and a transformation by the discrete fourier transform (DFT). Using these technologies, the experimental inspection system is built and tested to check the capabilities of the inspection algorithms. The diagnostic performance of the surface defect of a cutting tool was confirmed. There remained a problem to mis judge the normal tools as the defect.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 55
End Page 60
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308973
JaLCDOI 10.18926/17843
FullText URL Mem_Fac_Eng_OU_43_61.pdf
Author Kawamura, Mao| Konishi, Masami| Yamagata, Katuki| Shimomura, Koichi|
Abstract In this research, a Human Interface system is designed intended to mobile crane. The intervention of human is unavoidable to attain the high performance of electro mechanical system. As is known, crane operation is complicated. Recently, the decrease of expert person induced crane accident. So in near future, it is required a partial automation of crane operation and human support technology. We are aiming at the development of the operation support system for a crane. In this research, development of the hydro mechanical models representing both of static and dynamics movements are made. Further, actual experimental data of operating mobile crane, which are electrical signal data and three-dimension (3D) position of moving load is measured. The actual operating data are compared with the model and it is found that the developed electromechanical model can explain the behaviors of actual data.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 61
End Page 74
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308930
JaLCDOI 10.18926/17844
FullText URL Mem_Fac_Eng_OU_43_75.pdf
Author Ohe, Keita| Konishi, Masami| Imai, Jun|
Abstract As is well known, an advanced knowledge and know-how are needed in the design and the diagnosis work. Further, human experts can cope with the recent trend of customers needs. Therefore, the design and the diagnosis work have been privately performed in the past, and its information cannot be shared. In addition, the number of experts is decreasing. It is a very important problem to maintain and to extend experts technologies having been built up. For the purpose, methods and systems for technical inheritance of the advanced techniques of the skilled engineers are needed to train the unskilled operators and also can assist skilled operators. In this research, attention is focused on the design of analog filter circuit. To attain the target, the circuit structural classifier system to support design work is developed. Furthermore, simulation technology for hot strip rolling mills based on distributed agents is presented aimed to develop tools for the diagnosis of hot strip rolling mills operation.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 75
End Page 92
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308900
JaLCDOI 10.18926/17847
FullText URL Mem_Fac_Eng_OU_43_93.pdf
Author Ueno, Hirokazu| Morikawa, Yoshitaka|
Abstract This paper investigates the relation between error distribution and predictive order of minimum mean abusolute error predictors (MMAE predictors) designed for lossless coding of grayscale images. Design of MMAE predictors reduces to the linear programming problem. Let k be the number of coefficients in a predictor (predictor order), we imagine that predictor order k may have a distribution shaping effect. Main purpose of this paper is to ensure that k has such an effect.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 93
End Page 98
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308979
JaLCDOI 10.18926/17849
FullText URL Mem_Fac_Eng_OU_43_99.pdf
Author Kato, Hidehiro| Nogami, Yasuyuki| Morikawa, Yoshitaka|
Abstract A square root (SQRT) algorithm in extension field F(p(m))(m = r(0)r(1)・・・r(n−1)・2(d), r(i) : odd prime, d : positive integer) is proposed in this paper. First, a conventional SQRT algorithm, the Tonelli-Shanks algorithm, is modified to compute the inverse SQRT in F(p(2d)), where most of the computations are performed in the corresponding subfields F(p(2i)) for 0 ≤ i ≤ d-1. Then the Frobenius mappings with addition chain are adopted for the proposed SQRT algorithm, in which a lot of computations in a given extension field F(p(m)) are also reduced to those in a proper subfield by the norm computations. Those reductions of the field degree increase efficiency in the SQRT implementation. The Tonelli-Shanks algorithm and the proposed algorithm in F(p(6)) and F(p(10)) were implemented on a Core2 (2.66 GHz) using the C++ programming language. The computer simulations showed that, on average, the proposed algorithm accelerated the SQRT computation by 6 times in F(p(6)), and by 10 times in F(p(10)), compared to the Tonelli-Shanks algorithm.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 99
End Page 107
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308980
JaLCDOI 10.18926/17851
FullText URL Mem_Fac_Eng_OU_43_108.pdf
Author Nekado, Kenta| Kato, Hidehiro| Nogami, Yasuyuki| Morikawa, Yoshitaka|
Abstract Recently, pairing-based cryptographies such as ID-based cryptography and group signature have been studied. For fast pairing calculation, not only pairing algorithms but also arithmetic operations in extension field must be efficiently carried out. The authors show efficient arithmetic operations of extension field for Xate pairing especially with Freeman curve.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 108
End Page 112
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308904
JaLCDOI 10.18926/17853
FullText URL Mem_Fac_Eng_OU_43_113.pdf
Author Sakemi, Yumi| Kato, hidehiro| Nogami, Yasuyuki| Morikawa, Yoshikawa|
Abstract Barreto–Naehrig (BN) curve has been introduced as an efficient pairing-friendly elliptic curve over prime field F(p) whose embedding degree is 12. The characteristic and Frobenius trace are given as polynomials of integer variable X. The authors proposed an improvement of Miller's algorithm of twisted Ate pairing with BN curve by applying X of small hamming weight in ITC–CSCC2008; however, its cost evaluation has not been explicitly shown. This paper shows the detail of the cost evaluation.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 113
End Page 116
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308945
JaLCDOI 10.18926/19584
FullText URL Mem_Fac_Eng_OU_29_1_1.pdf
Author Uno, Yoshiyuki| Kubota, Shin-ichiro| Yokomizo, Seiichi| Ogata, Kojiro| Tada, Nobuhiko|
Abstract Scribing of copper coated alumina ceramic board with Q-switched YAG laser used for the maskless direct patterning of circuit board is experimentally investigated, which leads to efficient production of trial circuit board. Better dividing of alumina circuit board 655μm in thickness can be attained by the scribing of about 100μm depth. Higher repetition frequency of laser irradiation leads to smaller notch angle and lower breaking load.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1994-11-30
Volume volume29
Issue issue1
Start Page 1
End Page 6
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309083
JaLCDOI 10.18926/19585
FullText URL Mem_Fac_Eng_OU_29_1_23.pdf
Author Kawara, Osami| Fukumoto Kohji|
Abstract In this study we investigated the water quality of surface runoff and groundwater runoff from the basins of the Yodo River and the Asahi River based on that separated by a numerical filter. The water quality of the surface runoff is greatly different from the groundwater runoff. The tendency of concentration change in accordance with river discharges is different from each other. The water qtiality of groundwater runoff changes with river discharges clockwise in many cases. The differences of COD and SS originating from those of population and industrial activities in each basin are found in the lower SS concentrations of the surface runoff and the COD cencentrations of the groundwater runoff. The nutrients and chlorine ion were investigated, too.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1994-11-30
Volume volume29
Issue issue1
Start Page 23
End Page 34
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309068
JaLCDOI 10.18926/19588
FullText URL Mem_Fac_Eng_OU_31_2_1.pdf
Author Arisawa Hideaki| Song Zhi-Yi| Takemoto, Yoshito| Hida, Moritaka|
Abstract The microstructure of oxidizing magnesium at elevated temperatures has been studied using HR-TEM, SEM and EDS. Two kinds of thin magnesium specimen for TEM observation were prepared. One was oxidized after preparing TEM foil of magnesium, the other was prepared from an oxidized bulk magnesium for observing the cross-section of oxide/Mg interfacial region. In the former, several oxides(MgO) morphologies were observed depending on the temperature and time of the oxidization. The growth of needle-like oxides formed at 573K and mottled oxides formed at 773K were recognized as a remarkable phenomenon belonging to the local oxidization. These oxides were composed of poly-crystal. The thin uniform oxidization layer was also observed in all conditions. In the cross-sectional observation, the local oxide layer, nearly 300nm in thickness, on the matrix(Mg) were observed. The thin uniform oxidized layer of bulk samples was identified as a kind of modified layer (~40nm in thickness) in which the formation of HR-TEM lattice fringes were prevented by the strain due to the slight oxidization.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 1
End Page 10
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309082
JaLCDOI 10.18926/19589
FullText URL Mem_Fac_Eng_OU_31_2_11.pdf
Author Ishii Kouta| Takemoto, Yoshito| Hida, Moritaka|
Abstract Fine particles of Ti-V alloy were prepared by means of arc method and were investigated on internal structure and phase transformation using HR-TEM and EDS. Martensite phase was observed in a particle containing comparatively low concentration of V, and ω phase was also found to exist in a nearly 15% V particle. The structure of the ω phase in the fine particle is remarkably expanded in comparison with the bulk sample, and the ω phase is unstable, so that it has disappeared in a few seconds during TEM observation.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 11
End Page 20
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309004
JaLCDOI 10.18926/19591
FullText URL Mem_Fac_Eng_OU_31_2_21.pdf
Author Oka, Hisao| Nakamura, Takahiko|
Abstract In evaluating the stiffness of skin surface, internal structures such as bone and muscle often affect the measurements. In the present paper, acoustic random vibration is used to estimated the viscoelasticity of a silicone-gel model. This viscoelasticity, which includes two different stiffness strata, is first estimated using a mechanical impedance spectrum, which describes the relation between the depth and viscoelasticity of internal objects. This method is applied to the depth of a silicone-gel tumor model measured by ultrasound imaging and the viscoelasticity of internal gel can be accurately estimated.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 21
End Page 27
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309105
JaLCDOI 10.18926/19592
FullText URL Mem_Fac_Eng_OU_31_2_29.pdf
Author Oka, Hisao| Ohshima, Masakazu|
Abstract Knee replacement arthroplasty is indicated for the patient with advanced knee pain, knee deformation, and knee functional disorder. The aim of this study was to estimate loosening after a knee replacement arthroplasty. Loosening is measured by a frequency response function, and mobility by random vibration. The modal parameters for the knee joint are obtained by applying a modal analysis to the frequency response function. The values decrease as the knee joint prosthesis loosened. These parameters serve as an index for the condition between a thighbone and the prosthesis. The various indexes will greatly clarify the stage of advance in the loosening of knee-joint prostheses.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 29
End Page 37
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309172
JaLCDOI 10.18926/19594
FullText URL Mem_Fac_Eng_OU_31_2_39.pdf
Author Imayoshi Naoki| Hayakawa, Satoshi| Ohtsuki, Chikara| Osaka, Akiyoshi|
Abstract Nb(2)O(5)-and Ta(2)O(5)-doped calcium si1icate glasses were soaked for various periods in a simulated body fluid(Kokubo solution) up to 30 days. Apatite formation ability of the surface of these glasses were investigated with thin-film X-ray diffraction and FT-IR reflection spectroscopy. The effects of these additive oxides on the bioactivity of CaO・SiO(2) based glass were discussed. A small amount of Nb(2)O(5) and Ta(2)O(5) suppressed the rate of silica hydrogel layer formation and the apatite formation on the surface of the glasses. The rate of the apatite nucleation on the surface of Nb(2)O(5)-doped calcium silicate glass was slower than that on the surface of Ta(2)O(5)-doped calcium silicate glass. It was concluded that the decrease in the apatite forming ability of calcium silicate glasses by these additive oxides is attributed to the suppression of formation of silica hydrogel layer which plays an important role in apatite nucleation.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 39
End Page 44
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309151
JaLCDOI 10.18926/19596
FullText URL Mem_Fac_Eng_OU_31_2_45.pdf
Author Osaka, Akiyoshi| Kobayashi Keizo| Hayakawa, Satoshi| Ohtsuki, Chikara|
Abstract The thermal expansion coefficient of some bioactive glasses in the system CaO-SiO(2)-B(2)O(3) were adjusted to be similar to that of titanium by controlling the composition. A glass of composition 45CaO・30SiO(2)・25B(2)O(3) was selected among those as the enameling glass. A slurry was prepared by mixing the glass powder and ethanal to be developed on titanium and heated at 740℃ for 30 min. Thus treated specimen was soaked in a simulated body fluid (Kokubo solutiion). FT-IR reflection and thin film X-ray diffraction analyses indicated apatite formation on the glass coating layer within 12 h of soaking in the fluid. Thus titanium could be provided with bioactivity due to the enameling.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 45
End Page 51
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309181
JaLCDOI 10.18926/19599
FullText URL Mem_Fac_Eng_OU_31_2_53.pdf
Author Fujihara Yutaka| Osaki, Hirokazu|
Abstract This paper presents a method using simulated annealing(SA) and genetic algorithm(GA) to solve the plant layout problem in which the layout is evaluated by material handling cost and maintainability. In the former study about facility layout problem, it was either the minimization of the objeective function consisting of transport cost or the maximization of the objective function consisting of closeness rating. In this paper, both transport cost and maintainability were included in the objective function to be minimized. The plant layout problem, this paper proposes the heuristic procedures to obtain a suboptimal layout solution by combining SA with GA. From the simulation by computer, it concluded that the method which SA is combined with GA is more efficient than the method which utilizes SA and GA independently.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 53
End Page 60
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309131
JaLCDOI 10.18926/19601
FullText URL Mem_Fac_Eng_OU_31_2_61.pdf
Author Yamada Mitsuru| Osaki, Hirokazu|
Abstract At present, the two dimensional CAD systems which are used to make drawings go around widely. But in order to use design data at the lower stream of production process, the replacement from the two dimensional CAD systems to the three dimensional CAD systems have started. Accordingly it is dimensional drawings for the three dimensional shapes. And it is also necessary to store them in the three dimensional CAD systems. And in the studying of the machine vision which is often used as "Eyes of robot" , it is being studied the method to recognize the three dimensional objects from the two dimensional image. This is the problem about data exchange, too. Therefore in this report, we propose the method to exchange the plural two dimensional elements of figure from image relations between elements were found from reference of the element coordinates. Next, the three dimensional shapes were reasoned from reference of the knowledge (for corner, etc) prepared beforehand. Then that data were exchanged to the three dimensional CAD data. We report one example about this method.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1997-03-28
Volume volume31
Issue issue2
Start Page 61
End Page 65
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309050