This study proposes a new control method for under-actuated planar satellites having body-fixed thrusters that can generate unilateral and constant forces. The proposed method is applicable when the thrusters are not balanced, which means a rotational motion is inevitably induced whenever the thrusters are turned on. By applying the method, the position and attitude of any planar satellite can be controlled to arbitrary target states so long as a controllability condition is satisfied. The control logic is based on a switching control using plural manifolds. First, the satellite is transferred to an initial manifold, and then it moves to another manifold while decreasing its velocity and approaching the target states. The ON/OFF timing of the thrusters to transfer among the manifolds is explicitly specified in this paper. A numerical simulation validates the proposed control logic.
{"title":"Attitude and position control for under actuated satellite by ON/OFF thrusters","authors":"T. Matsuno, Y. Yoshimura, S. Hokamoto","doi":"10.1299/KIKAIC.79.225","DOIUrl":"https://doi.org/10.1299/KIKAIC.79.225","url":null,"abstract":"This study proposes a new control method for under-actuated planar satellites having body-fixed thrusters that can generate unilateral and constant forces. The proposed method is applicable when the thrusters are not balanced, which means a rotational motion is inevitably induced whenever the thrusters are turned on. By applying the method, the position and attitude of any planar satellite can be controlled to arbitrary target states so long as a controllability condition is satisfied. The control logic is based on a switching control using plural manifolds. First, the satellite is transferred to an initial manifold, and then it moves to another manifold while decreasing its velocity and approaching the target states. The ON/OFF timing of the thrusters to transfer among the manifolds is explicitly specified in this paper. A numerical simulation validates the proposed control logic.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133444260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Various types of clean energy vehicles (CEVs) have been developed to reduce CO2 emissions and move our economies away from petroleum in the transportation sector. To make an innovation of these technologies and introduce them into the market effectively, it is important to analyze an optimal portfolio of CEVs, CO2 reduction effects and total social cost in the future that can be used as a decision-making guideline for governments and companies. Meanwhile, CEVs contain some metals that have supply risks because of the reserves and political availability. However, previous researches have not taken the metal resource problems into account. In this paper, we develop the optimization model by linear programming for CEV portfolios by 6 regions of the world, considering metal resource usage of CEVs. As a case study, under the definition that the objectives are minimizing total social cost or copper resource usage, and the constraint is CO2 emission reduction target, we clarify an optimal CEV portfolio of the world. In case of minimizing total social cost, electric vehicle and plug-in hybrid electric vehicle were mainly selected. On the other hand, in case of minimizing copper usage, fuel cell vehicle and clean diesel vehicle are selected. The optimal portfolio is different for both cases. Moreover, the relationship between CO2 emission target and copper usage to achieve is clarified. Finally, we evaluate copper resource constrains. When achieving 15% reduction of CO2, about 1.7 million ton of copper (approximately equal to 33 million units of EV) might be in short supply.
{"title":"Optimization Model for Global Portfolio of Clean Energy Vehicles Considering Metal Resource","authors":"Keita Kato, Tomomi Nonaka, M. Nakano","doi":"10.1299/KIKAIC.79.77","DOIUrl":"https://doi.org/10.1299/KIKAIC.79.77","url":null,"abstract":"Various types of clean energy vehicles (CEVs) have been developed to reduce CO2 emissions and move our economies away from petroleum in the transportation sector. To make an innovation of these technologies and introduce them into the market effectively, it is important to analyze an optimal portfolio of CEVs, CO2 reduction effects and total social cost in the future that can be used as a decision-making guideline for governments and companies. Meanwhile, CEVs contain some metals that have supply risks because of the reserves and political availability. However, previous researches have not taken the metal resource problems into account. In this paper, we develop the optimization model by linear programming for CEV portfolios by 6 regions of the world, considering metal resource usage of CEVs. As a case study, under the definition that the objectives are minimizing total social cost or copper resource usage, and the constraint is CO2 emission reduction target, we clarify an optimal CEV portfolio of the world. In case of minimizing total social cost, electric vehicle and plug-in hybrid electric vehicle were mainly selected. On the other hand, in case of minimizing copper usage, fuel cell vehicle and clean diesel vehicle are selected. The optimal portfolio is different for both cases. Moreover, the relationship between CO2 emission target and copper usage to achieve is clarified. Finally, we evaluate copper resource constrains. When achieving 15% reduction of CO2, about 1.7 million ton of copper (approximately equal to 33 million units of EV) might be in short supply.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121697362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"小型ジャイロミル型垂直軸風車の空気抵抗ブレーキに関する研究（第１報 強風下での回転数連続制御方法について）","authors":"祥晃 丹澤, 創太 清水, 圭隆 井上, 幸丸 清水","doi":"10.1299/KIKAIB.79.12","DOIUrl":"https://doi.org/10.1299/KIKAIB.79.12","url":null,"abstract":"","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128970689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Asami, Y. Yokota, T. Ise, I. Honda, H. Sakamoto
This paper proposes a simple but accurate method for calculating the dynamic properties of an air spring employing an orifice to produce a damping force. Air springs are very common in rail, automobile, and vibration isolation applications. However, because this type of air spring has non-linear flow characteristics, an accurate analysis approach is yet to be proposed up to the present day. The restoring and damping force in an air spring with an orifice damper vary with the amplitude of the body. This amplitude dependency has not been considered in previous studies. Proposed herein is a simple model for calculating the air spring constant and damping coefficient. However, iterative calculation is required due to the non-linearity of the spring. The theoretical and experimental results are found to agree well each other. The theoretical equations provide an effective tool for air spring design.
{"title":"Theoretical and Experimental Analysis of the Non-Linear Characteristics of an Air Spring with an Orifice","authors":"T. Asami, Y. Yokota, T. Ise, I. Honda, H. Sakamoto","doi":"10.1299/KIKAIC.77.1674","DOIUrl":"https://doi.org/10.1299/KIKAIC.77.1674","url":null,"abstract":"This paper proposes a simple but accurate method for calculating the dynamic properties of an air spring employing an orifice to produce a damping force. Air springs are very common in rail, automobile, and vibration isolation applications. However, because this type of air spring has non-linear flow characteristics, an accurate analysis approach is yet to be proposed up to the present day. The restoring and damping force in an air spring with an orifice damper vary with the amplitude of the body. This amplitude dependency has not been considered in previous studies. Proposed herein is a simple model for calculating the air spring constant and damping coefficient. However, iterative calculation is required due to the non-linearity of the spring. The theoretical and experimental results are found to agree well each other. The theoretical equations provide an effective tool for air spring design.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134543535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Narukawa, H. Nishimura, Yuichi Ito, Y. Motozawa
{"title":"Reduced-order dynamic model considering thoracic deflection based on human FE model in frontal car crash","authors":"T. Narukawa, H. Nishimura, Yuichi Ito, Y. Motozawa","doi":"10.1299/KIKAIC.78.3677","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3677","url":null,"abstract":"","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130604095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A nonlinear controller for accelerating a mobile inverted pendulum (MIP) with a center of gravity moving mechanism is proposed. The controller shapes the total energy of the system and utilizes instability of the MIP for acceleration. The body angle and the displacement are controlled to keep statically unstable but dynamically stable states. The intentional destabilization leads to indirect control of translational acceleration. The total energy of the system is shaped such that the energy becomes minimum at given desired states, and the system is controlled to converge to them. To derive the energy shaping controller, the system has to be described as a port-Hamiltonian (PH) system. In this study the MIP is shown to be appropriately described as a PH system and the controller is obtained. It can achieve various control properties through the energy shaping procedure. Especially an energy function that will lead to safe operation of the MIP is proposed. The function ensures that motion of the MIP is restricted within predefined regions, and converges to the desired states. The controller also returns the system back to the desired states with state-dependent gains that become large if the MIP comes close to fall over. Effectiveness of the proposed controller and utilization of instability for the MIP with a center of gravity moving mechanism are verified through simulations.
{"title":"Energy shaping nonlinear acceleration control for a mobile inverted pendulum with a center of gravity moving mechanism utilizing instability","authors":"Kazuto Yokoyama, Masaki Takahashi","doi":"10.1299/KIKAIC.78.3469","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3469","url":null,"abstract":"A nonlinear controller for accelerating a mobile inverted pendulum (MIP) with a center of gravity moving mechanism is proposed. The controller shapes the total energy of the system and utilizes instability of the MIP for acceleration. The body angle and the displacement are controlled to keep statically unstable but dynamically stable states. The intentional destabilization leads to indirect control of translational acceleration. The total energy of the system is shaped such that the energy becomes minimum at given desired states, and the system is controlled to converge to them. To derive the energy shaping controller, the system has to be described as a port-Hamiltonian (PH) system. In this study the MIP is shown to be appropriately described as a PH system and the controller is obtained. It can achieve various control properties through the energy shaping procedure. Especially an energy function that will lead to safe operation of the MIP is proposed. The function ensures that motion of the MIP is restricted within predefined regions, and converges to the desired states. The controller also returns the system back to the desired states with state-dependent gains that become large if the MIP comes close to fall over. Effectiveness of the proposed controller and utilization of instability for the MIP with a center of gravity moving mechanism are verified through simulations.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127549502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wataru Toyoda, Ken-ichi Saito, K. Doi, H. Fujimoto
Tactile dots (dot-shaped tactile symbols) placed on the operation keys of consumer products such as cellular phones contribute to improving accessibility for everyone, including persons with visual impairment. JISC (Japanese Industrial Standards Committee) and ISO (International Organization for Standardization) standardized tactile dots and bars. However, sufficient reliable data on the appropriate sizes and cross-section shapes of tactile dots and bars was not necessarily available. Therefore, more quantitative data for optimal dimensions of tactile dots and bars is required to revise existing standards and devise new standards. In this paper, we evaluated influences of the height (0.1, 0.3, 0.55 and 0.75 mm, without tactile dot) and the tip radius of curvature (0.1, 0.3, 0.5, 0.7 and 0.9 mm) of tactile dots on the operational performance in cellular phones. 16 sighted younger participants, whose hand was covered by a curtain, were asked to operate cellular phones with a tactile dot on its key 5 and without tactile dots. As the result, both too high and low height dots are not effective to improve the operational performance of cellular phones and there is an appropriate range of the height of tactile dots regardless of the tip radius of curvature. Furthermore, participants performed better at a particular height with larger tip radius of curvature.
{"title":"Influences of the height and the tip radius of curvature of tactile dots on the operational performance in cellular phones","authors":"Wataru Toyoda, Ken-ichi Saito, K. Doi, H. Fujimoto","doi":"10.1299/KIKAIC.78.3495","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3495","url":null,"abstract":"Tactile dots (dot-shaped tactile symbols) placed on the operation keys of consumer products such as cellular phones contribute to improving accessibility for everyone, including persons with visual impairment. JISC (Japanese Industrial Standards Committee) and ISO (International Organization for Standardization) standardized tactile dots and bars. However, sufficient reliable data on the appropriate sizes and cross-section shapes of tactile dots and bars was not necessarily available. Therefore, more quantitative data for optimal dimensions of tactile dots and bars is required to revise existing standards and devise new standards. In this paper, we evaluated influences of the height (0.1, 0.3, 0.55 and 0.75 mm, without tactile dot) and the tip radius of curvature (0.1, 0.3, 0.5, 0.7 and 0.9 mm) of tactile dots on the operational performance in cellular phones. 16 sighted younger participants, whose hand was covered by a curtain, were asked to operate cellular phones with a tactile dot on its key 5 and without tactile dots. As the result, both too high and low height dots are not effective to improve the operational performance of cellular phones and there is an appropriate range of the height of tactile dots regardless of the tip radius of curvature. Furthermore, participants performed better at a particular height with larger tip radius of curvature.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124699446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The oblique impact of a golf ball with a rigid steel target was studied using a high-speed video camera. The video images during the impact were employed to measure the compressional displacement of the ball normal to the target and to determine the normal velocity and acceleration of the ball as a function of time. The rotation angle of the ball was also measured to evaluate the angular velocity during the impact. The results showed that the angular velocity increased and then decreased during the impact. To study the velocity change, we introduced an analytical model and suggested that the ball deformation can play an important role to understand the friction effect during the impact.
{"title":"Friction effect on angular velocity of a golf ball","authors":"K. Arakawa","doi":"10.1299/KIKAIC.78.3284","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3284","url":null,"abstract":"The oblique impact of a golf ball with a rigid steel target was studied using a high-speed video camera. The video images during the impact were employed to measure the compressional displacement of the ball normal to the target and to determine the normal velocity and acceleration of the ball as a function of time. The rotation angle of the ball was also measured to evaluate the angular velocity during the impact. The results showed that the angular velocity increased and then decreased during the impact. To study the velocity change, we introduced an analytical model and suggested that the ball deformation can play an important role to understand the friction effect during the impact.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134158872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. Kozuka, J. Arata, K. Okuda, Akinori Onaga, Motoshi Ohno, A. Sano, H. Fujimoto
In this paper, a spring-parallel mechanism within high precision and wide working area, based on compliant mechanism, is presented. Spring-parallel mechanism is a parallel mechanism in which all of the joints are composed by elastic deformable joints. The presented mechanism is composed by circular spring joints that have been inspired by a plant “Drakaea”. From our analytical and experimental tests, it was revealed that the circular spring joint has desirable characteristics for composing a spring-parallel mechanism. From these primary experiments, we developed a 3 DOF spring-parallel mechanism, to be used for an optical component positioning machine. The prototype evaluation tests revealed the advantageous characteristics of the mechanism.
{"title":"Developnieiit of a spring-Parallel mechanism tising circular spring joints based on compliant mechanism","authors":"H. Kozuka, J. Arata, K. Okuda, Akinori Onaga, Motoshi Ohno, A. Sano, H. Fujimoto","doi":"10.1299/KIKAIC.78.3216","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3216","url":null,"abstract":"In this paper, a spring-parallel mechanism within high precision and wide working area, based on compliant mechanism, is presented. Spring-parallel mechanism is a parallel mechanism in which all of the joints are composed by elastic deformable joints. The presented mechanism is composed by circular spring joints that have been inspired by a plant “Drakaea”. From our analytical and experimental tests, it was revealed that the circular spring joint has desirable characteristics for composing a spring-parallel mechanism. From these primary experiments, we developed a 3 DOF spring-parallel mechanism, to be used for an optical component positioning machine. The prototype evaluation tests revealed the advantageous characteristics of the mechanism.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128752889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Junichi Fukuzaki, T. Narukawa, H. Nishimura, H. Itoh, Takeo Arikabe
Recently, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and trajectory which fills the suitable index of formability and productivity using shock control. It aims to design the control system for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajectory, we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into two stages. In order to secure the robustness we propose the control system which changes control flexibility. By carrying out numerical simulations and experiments, it is verified that the control system has good performance.
{"title":"Shock control of servo press using two-staged final-state control","authors":"Junichi Fukuzaki, T. Narukawa, H. Nishimura, H. Itoh, Takeo Arikabe","doi":"10.1299/KIKAIC.78.3166","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3166","url":null,"abstract":"Recently, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and trajectory which fills the suitable index of formability and productivity using shock control. It aims to design the control system for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajectory, we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into two stages. In order to secure the robustness we propose the control system which changes control flexibility. By carrying out numerical simulations and experiments, it is verified that the control system has good performance.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"2002 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129571086","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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