JaLCDOI 10.18926/44495
FullText URL mfe_045_001_014.pdf
Author Akiyoshi, Tatsuro| Imai, Jun| Konishi, Masami|
Abstract This paper presents a method of the controller design for the handling machine by using dsPIC(Digital Signal Processor + Peripheral Interface Controller). Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor, cost saving, and improvement of the productivity. Such robots need to have positioning performance of high precision and simultaneously to save cost. In this paper, a digital optimal servo controller is designed, and it is implemented into our barebones controller which involves dsPIC. We have designed and manufactured the controller which is added suitable peripherals to improve the consistency between the mechanical machine operating in continuous time and controller in discrete time. The significance of this research is that digital implementation of the embedded system which has performance-limitation has ensured a comparable result, against the one with PC which has broad utility. When it is used as a controller, it is possible to restrain product prices greatly equivalent PC precision. We demonstrate potential that good control can be achieved even with low cost. Our research has lead to the viability of lower cost and higher performance system for the production process at factories.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2011-01
Volume volume45
Start Page 1
End Page 14
ISSN 1349-6115
language 英語
Copyright Holders Copyright © by the authors
File Version publisher
NAID 120002905951
JaLCDOI 10.18926/20012
FullText URL Mem_Fac_Eng_OU_29_1_15.pdf
Author Totsuji, Chieko| Matsubara, Takeo| Obuchi, Masumi|
Abstract A molecular orbital approach to the electronic structure of C(60) molecule is formulated on the basis of optimized bond orbital model and the stability of the truncated icosahedron structure is examined.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1994-11-30
Volume volume29
Issue issue1
Start Page 15
End Page 22
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002310919
JaLCDOI 10.18926/20011
FullText URL Mem_Fac_Eng_OU_29_1_7.pdf
Author Hiroyuki Tachibana| Totsuji, Hiroo| Nara, Shigetoshi| Totsuji, Chieko|
Abstract Effects of interface fluctuations on the electronic states in semiconductor quantum dots are analyzed on the basis of numerical solutions for ground state wave functions and energy eigenvalues. It is shown that the effective volume of confinement becomes smaller than the real volume of quantum dots due to fluctuation. This effect comes from the fact that the wave functions with larger characteristic wavelength are not able to deform themselves following the fluctuation of interfaces exactly.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1994-11-30
Volume volume29
Issue issue1
Start Page 7
End Page 14
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002310741
JaLCDOI 10.18926/19962
FullText URL Mem_Fac_Eng_OU_44_73.pdf
Author Imanaka, Hiroyuki| Tanaka, Soukichi| Feng, Bin| Imamura, Koreyoshi| Nakanishi, Kazuhiro|
Abstract We used modified Czapek-Dox (mCD) or dextrin-peptone-yeast extract (DPY) media to cultivate a filamentous fungus, Aspergillus oryzae IAM 2706 by three different cultivation methods, i.e., shaking-flask culture (SFC), agar-plate culture (APC), and membrane-surface liquid culture (MSLC), to identify the differences in cultivation behaviors and gene transcriptional profiles. The fungi cultivated by APC or MSLC secreted a greater number of different proteins/enzymes in larger quantities compared with fungi cultivated by SFC, particularly when DPY medium was used. In particular, the amounts of protease secreted by fungi cultivated via MSLC or APC were much greater compared with SFC. When mCD medium was used, α-amylase activity was barely detectable in all cultures while the activity was detected in MSLC and APC in a quantity that was several times higher than that in SFC using DPY medium. SDS-PAGE analysis and N-terminal amino acid sequences confirmed 6 proteins in the culture supernatants when DPY medium was used. Among these proteins oryzin (an alkaline protease) and α-amylase were detected at much higher levels in APC and MSLC compared with SFC, which was consistent with the measured activity of the secreted enzymes. However, when mCD medium was used, only oryzin was detected in significant amounts in MSLC and APC. Microarray analyses of the fungi cultivated by SFC, APC or MSLC using either mCD or DPY media indicated that the gene transcriptional profile of the MSLC sample was similar to that of the APC sample but different from that of the SFC sample. When mCD medium was used, most of the genes that were up-regulated 10-folds or greater in the MSLC sample relative to the SFC sample were unknown or predicted proteins. Transcription of the oryzin gene was only slightly up-regulated in the MSLC sample while transcription of the α-amylase gene was slightly down-regulated. On the other hand, when DPY medium was used, many known genes including the oryzin gene were up-regulated in the MSLC sample versus the SFC sample.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 73
End Page 83
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309053
JaLCDOI 10.18926/19961
FullText URL Mem_Fac_Eng_OU_44_69.pdf
Author Nekado, Kenta| Kato, Hidehiro| Nogami, Yasuyuki| Morikawa, Yoshitaka|
Abstract Recently, pairing–based cryptographies have attracted much attention. For fast pairing calculation, not only pairing algorithms but also arithmetic operations in extension field should be efficient. Especially for final exponentiation included in pairing calculation, squaring is more important than multiplication. This paper proposes an efficient squaring algorithm in extension field for Freeman curve.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 69
End Page 72
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309070
JaLCDOI 10.18926/19960
FullText URL Mem_Fac_Eng_OU_44_60.pdf
Author Nogami, Yasuyuki| Morikawa, Yoshitaka|
Abstract This paper proposes a method for generating a certain composite order ordinary pairing–friendly elliptic curve of embedding degree 3. In detail, the order has two large prime factors such as the modulus of RSA cryptography. The method is based on the property that the order of the target pairing–friendly curve is given by a polynomial as r(X) of degree 2 with respect to the integer variable X. When the bit size of the prime factors is about 500 bits, the proposed method averagely takes about 15 minutes on Core 2 Quad (2.66Hz) for generating one.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 60
End Page 68
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309063
JaLCDOI 10.18926/19959
FullText URL Mem_Fac_Eng_OU_44_50.pdf
Author Kanatani, Kenichi| Niitsuma Hirotaka| Rangrajan Prasanna|
Abstract We present highly accurate least-squares (LS) alternatives to the theoretically optimal maximum likelihood (ML) estimator for homographies between two images. Unlike ML, our estimators are non-iterative and yield solutions even in the presence of large noise. By rigorous error analysis, we derive a “hyperaccurate” estimator which is unbiased up to second order noise terms. Then, we introduce a computational simplification, which we call “Taubin approximation”, without incurring a loss in accuracy. We experimentally demonstrate that our estimators have accuracy surpassing the traditional LS estimator and comparable to the ML estimator.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 50
End Page 59
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308986
JaLCDOI 10.18926/19958
FullText URL Mem_Fac_Eng_OU_44_42.pdf
Author Kanatani, Kenichi| Rangrajan Prasanna|
Abstract This paper presents a new method for fitting an ellipse to a point sequence extracted from images. It is widely known that the best fit is obtained by maximum likelihood. However, it requires iterations, which may not converge in the presence of large noise. Our approach is algebraic distance minimization; no iterations are required. Exploiting the fact that the solution depends on the way the scale is normalized, we analyze the accuracy to high order error terms with the scale normalization weight unspecified and determine it so that the bias is zero up to the second order. We demonstrate by experiments that our method is superior to the Taubin method, also algebraic and known to be highly accurate.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 42
End Page 49
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309054
JaLCDOI 10.18926/19957
FullText URL Mem_Fac_Eng_OU_44_32.pdf
Author Kanatani, Kenichi| Niitsuma Hirotaka| Sugaya Yasuyuki|
Abstract We present an alternative approach to what we call the “standard optimization”, which minimizes a cost function by searching a parameter space. Instead, the input is “orthogonally projected” in the joint input space onto the manifold defined by the “consistency constraint”, which demands that any minimal subset of observations produce the same result. This approach avoids many difficulties encountered in the standard optimization. As typical examples, we apply it to line fitting and multiview triangulation. The latter produces a new algorithm far more efficient than existing methods. We also discuss optimality of our approach.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 32
End Page 41
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309124
JaLCDOI 10.18926/19956
FullText URL Mem_Fac_Eng_OU_44_24.pdf
Author Kanatani, Kenichi| Sugaya Yasuyuki|
Abstract We present an improved version of the MSL method of Sugaya and Kanatani for multibody motion segmentation. We replace their initial segmentation based on heuristic clustering by an analytical computation based on GPCA, fitting two 2-D affine spaces in 3-D by the Taubin method. This initial segmentation alone can segment most of the motions in natural scenes fairly correctly, and the result is successively optimized by the EM algorithm in 3-D, 5-D, and 7-D. Using simulated and real videos, we demonstrate that our method outperforms the previous MSL and other existing methods. We also illustrate its mechanism by our visualization technique.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 24
End Page 31
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309159
JaLCDOI 10.18926/19955
FullText URL Mem_Fac_Eng_OU_44_13.pdf
Author Kanatani, Kenichi| Sugaya Yasuyuki|
Abstract A new numerical scheme is presented for computing strict maximum likelihood (ML) of geometric fitting problems having an implicit constraint. Our approach is orthogonal projection of observations onto a parameterized surface defined by the constraint. Assuming a linearly separable nonlinear constraint, we show that a theoretically global solution can be obtained by iterative Sampson error minimization. Our approach is illustrated by ellipse fitting and fundamental matrix computation. Our method also encompasses optimal correction, computing, e.g., perpendiculars to an ellipse and triangulating stereo images. A detailed discussion is given to technical and practical issues about our approach.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 13
End Page 23
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309170
JaLCDOI 10.18926/19954
FullText URL Mem_Fac_Eng_OU_44_7.pdf
Author Maetani Noriaki| Kurose Tomoyuki| Tsuruta, Kenji|
Abstract The lens effect of acoustic waves in a two-dimensional (2D) phononic crystal is studied by numerical simulation based on the finite-difference time-domain (FDTD) method. We calculate the phonon band structure of 2D phononic crystals, consisting of metal cylinders placed periodically in water. Lens effect is observed by the negative refraction of acoustic waves, which results in refocusing of the waves at the point outside the crystal. To increase the focal intensity, we introduce a 2D phononic crystal shield with a different composition of material, which returns the incident waves back to the lens via the perfect reflection. Also, the dependence on filling fraction of metal in the crystal is studied.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 7
End Page 12
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309019
JaLCDOI 10.18926/19953
FullText URL Mem_Fac_Eng_OU_44_1.pdf
Author Nagai Shinji| Umeda Ryosuke| Tsuruta, Kenji|
Abstract In this paper, we investigate a light-confinement phenomenon in the structure which has triangular latice composed of Double NeGative Metamaterial (DNGM). In geometrical optics consideration, this structure is expected to confine lights completely by sequential refractions in the structure. We demonstrate it by using the two dimensional finite-difference time-domain simulations. We introduce Drude-Lorentz model for dielectric and magnetic dispersion of the material at optical frequencies. We analyze quantitatively the effects of energy loss in the DNGM on the light-confinement efficiency.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2010-01
Volume volume44
Start Page 1
End Page 6
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002309117
JaLCDOI 10.18926/19692
FullText URL Mem_Fac_Eng_OU_33_2_111.pdf
Author Fujihara Yutaka| Munesawa, Yoshiomi| Osaki, Hirokazu|
Abstract Our country faces a serious problem of the environmental pollution by the production and the large quantity consumption of the industry product. The thoroughness of resources recycling has become necessary to solve these problems. As for the product design and the production control, how productivity should be improved has been discussed with extreme emphasis. But from now, as for the product design, both assemblability and disassemblability must be taken into consideration at the same time. And also in production management, it must be investigated how the products can be recycled in the low cost. Therfore, the facility layout method with two phases in recycling plant, which is composed of both the procedure for the layout of facility group and the procedure for the layout of intermal facility group by the optimal solution method and the suboptimal solution method by neural network is proposed in this paper.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 111
End Page 119
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309035
JaLCDOI 10.18926/19689
FullText URL Mem_Fac_Eng_OU_33_2_105.pdf
Author Tokunaga Shuichi| Osaki, Hirokazu|
Abstract This paper deals with analytical method of human motion by image processing to make a model of the scooping process, Firstly, the scooping tool is the spoon, and while the scooping process is performing, the movement of the mouth center position and the spoon top position are measured by two cameras. As the amount of substance is over the uppermost area of the cup, the spoon is stuck obliquely into substance. Then the spoon is rotated and lifted up to the mouth. Secondly, we recognize the mouth center from the characteristic of the face image data and calculate the spoon top position to extract two points on the spoon handle from the time series images by two cameras. Finally, we describe the method of recognizing the coordinate of the mouth center and estimating the coordinate of the spoon top to analyse the scooping process.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 105
End Page 110
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309175
JaLCDOI 10.18926/19682
FullText URL Mem_Fac_Eng_OU_33_2_91.pdf
Author Munesawa, Yoshiomi| Osaki, Hirokazu| Kajihara, Yasuhiro|
Abstract In this paper, we propose the method to determine the position of the 2 cameras for the multiviewpoints as the robot is the work place. The optical axit's direction of the 1st camera is determined in the base ot work contents in teleoperation. The multiviewpoints system uses the 2 camera units that aren't installed side by side, so that the direction of the 2nd camera is decided in the base of the angle between the optical axes' direction of 2 cameras. Next, the distance from the camera to the work place is determined according to the distance resolution of image on the monitor, and the camera type of which the point-blank range is not this distance is selected. And the efficacy ot this system is examined with an experiment.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 91
End Page 96
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309052
JaLCDOI 10.18926/19680
FullText URL Mem_Fac_Eng_OU_33_2_85.pdf
Author Yamada, Mitsuru| Osaki, Hirokazu|
Abstract We reason the circumstances around the three-dimensional vertex from the information about the intersection point in the two-dimensional image data inputted from a camera on the premise that we use this method as the eye ot the robot. In this method, we use the Vertex-Dictionary. We make the Vertex-Dictionary by calculation from CAD data of object figure (these data are already known) and the position data of the point of view. This dictionary includes the data of position and relations of connect surface etc. about a vertex. We get the data of three-dimensional vertex by comparison the data of two-dimensional intersection point in image data and Vertex-Dictionary. And we get the three-dimensional object by reasoning about the information of circumstances of all vertexes. Then we can recognize the three-dimensional object from image data. In this report, we explain the process to calculate the Vertex-Dictionary and some examples about this method.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 85
End Page 89
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309120
JaLCDOI 10.18926/19677
FullText URL Mem_Fac_Eng_OU_33_2_79.pdf
Author Osaka, Akiyoshi| Hayakawa, Satoshi| Koyano Keiko| Tsuru, Kanji|
Abstract A titanium oxide gel was electrochemically prepared on Ti with a cell consisting of Ti as the working electrode, Pt as the counter one, AgCl as the reference one, and an aqueous solution of 0.1 mol/L Ca(NO(3))(2) as the electrolyte solution. The Ti electrode was kept at 9.5V for 1 hr for oxidation and subsequently kept at-3.0V for 10 min (Ca9.5-3.0):calcium ions were expected to be adsorbed at the latter treatment. Other Ti specimen was kept at -3.0V for 10 min (Ca-3.0). Both specimens were found so bioactive as to deposit apatite in 12 hr (Ca9.5-3.0) and in 1 day (Ca-3.0) when soaked in a simulated body fluid (Kokubo solution). Calcium carbonate detected on the surface of Ca9.5-3.0 caused no harmful effects on spontaneous deposition of apatite in the fluid.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 79
End Page 84
ISSN 0475-0071
language 日本語
File Version publisher
NAID 120002309011
JaLCDOI 10.18926/19674
FullText URL Mem_Fac_Eng_OU_33_2_71.pdf
Author Tsuruta, Kenji| Totsuji, Hiroo| Totsuji, Chieko|
Abstract A parallel tight-binding molecular dynamics with an order-N [O(N))] algorithm is implemented to perform large-scale simulation of nanostructured materials. The algorithm is based on the Fermi-operator expansion of an electronic energy and force, and we present its basic formalisms. Accuracy necessary for molecular-dynamics simulations can be obtained by a proper truncation in the expansion. Parallel efficiency on a parallel PC cluster shows nearly ideal scaling behavior with respect to the number of processors. Applicability of the method to a silicon-carbide system is examined.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 71
End Page 77
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309027
JaLCDOI 10.18926/19673
FullText URL Mem_Fac_Eng_OU_33_2_61.pdf
Author Totsuji, Hiroo| Tsuruta, Kenji| Totsuji, Chieko|
Abstract The behavior of multicomponent plasmas in the Penning-Malmberg traps is discussed with the parameters corresponding to experiments with antiprotons and cryogenic electrons. The relaxation times for the energy transfer antiprotons to electrons and between parallel and perpendicular components of electrons are estimated. It is shown that, depending on the values of parameters, both the former and the latter can be the bottleneck in the cooling process.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 1999-04-27
Volume volume33
Issue issue2
Start Page 61
End Page 69
ISSN 0475-0071
language 英語
File Version publisher
NAID 120002309106