Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.335
H. Bleuler
Magnetic levitation has been studied mainly in two distinct fields of application, MAGLEV transportation and rotor bearings. A unitied overview, as it is attempted in this paper, reveals that there are many radically different types of magnetic levitation. A systematic classification of these basic levitation principles is proposed. It starts from the fundamental manner to obtain the magnetic force. The systematization derived in this manner aims at including all possible basic magnetic levitation types. As a result some little known levitation types are inc1uded, among them Lorentz-force bearings and tuned LC bearings. As a special feature, a new type of active bearing is presented, the so-called self-sensing active bearing using no gap sensor. This remarkable bearing type combines high static load and low hardware costs. Examples of realizations are given.
{"title":"A Survey of Magnetic Levitation and Magnetic Bearing Types","authors":"H. Bleuler","doi":"10.1299/JSMEC1988.35.335","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.335","url":null,"abstract":"Magnetic levitation has been studied mainly in two distinct fields of application, MAGLEV transportation and rotor bearings. A unitied overview, as it is attempted in this paper, reveals that there are many radically different types of magnetic levitation. A systematic classification of these basic levitation principles is proposed. It starts from the fundamental manner to obtain the magnetic force. The systematization derived in this manner aims at including all possible basic magnetic levitation types. As a result some little known levitation types are inc1uded, among them Lorentz-force bearings and tuned LC bearings. As a special feature, a new type of active bearing is presented, the so-called self-sensing active bearing using no gap sensor. This remarkable bearing type combines high static load and low hardware costs. Examples of realizations are given.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133751066","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.387
Masataka Tanaka, Yoshihiro Yamada, M. Shirotori
This paper is concerned with a computer simulation of active noise control using the boundary element method for analyzing three-dimensional acoustic field problems. The active noise control under consideration is reduced to an optimum problem to determine the optimal set of parameters defining the sound pressure of a secondary source to be attached. The optimal set of parameters is selected through the conventional optimization procedure so that the sum of the sound pressure values measured at the duct exit is minimal. Computation is carried out for typical examples in which the duct is embodied in the infinite plane and the noise through the duct is radiated to the semi-infinite acoustic field, whereby the potential usefulness of the computer simulation system developed is demonstrated.
{"title":"Boundary element method applied to simulation of active noise control in ducts","authors":"Masataka Tanaka, Yoshihiro Yamada, M. Shirotori","doi":"10.1299/JSMEC1988.35.387","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.387","url":null,"abstract":"This paper is concerned with a computer simulation of active noise control using the boundary element method for analyzing three-dimensional acoustic field problems. The active noise control under consideration is reduced to an optimum problem to determine the optimal set of parameters defining the sound pressure of a secondary source to be attached. The optimal set of parameters is selected through the conventional optimization procedure so that the sum of the sound pressure values measured at the duct exit is minimal. Computation is carried out for typical examples in which the duct is embodied in the infinite plane and the noise through the duct is radiated to the semi-infinite acoustic field, whereby the potential usefulness of the computer simulation system developed is demonstrated.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129132459","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.493
Seungho Jang, N. Nakajima
The objective of this study is to propose a methodology by witch to establish the CAE (Computer Aided Engineering) system for assisting product development. In general, for new product development designs, the design objects are frequently redesigned on the basis of experimental results. This paper describes a method to establish the CAE system, which possesses an engineering model of a design object in the model database, and refines the model on the basis of experimental results. We have utilized the blackboard inference model to infer the model retinement and the redesign countermeasure. The validity of the proposed CAE system has been verified by developing an active magnetic bearing for a turbomolecular pump.
{"title":"Study of the CAE System for Product Development","authors":"Seungho Jang, N. Nakajima","doi":"10.1299/JSMEC1988.35.493","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.493","url":null,"abstract":"The objective of this study is to propose a methodology by witch to establish the CAE (Computer Aided Engineering) system for assisting product development. In general, for new product development designs, the design objects are frequently redesigned on the basis of experimental results. This paper describes a method to establish the CAE system, which possesses an engineering model of a design object in the model database, and refines the model on the basis of experimental results. We have utilized the blackboard inference model to infer the model retinement and the redesign countermeasure. The validity of the proposed CAE system has been verified by developing an active magnetic bearing for a turbomolecular pump.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"374 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114879550","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.462
N. Mimura, Y. Funahashi
In this paper, the kinematics of the planar multifingered robot hand is investigated for grasping and manipulation of some objects. The kinematics equations and the conditions for grasping and manipulation with rolling contact points are derived. The contact finger forces are affected by small contact point displacement, however, grasping and manipulation conditions remain unchanged. Finally, the effects of contact point displacement are illustrated concretely by numerical examples of point and rolling contact.
{"title":"Kinematics of Planar Multifingered Robot, Hand with Displacement of Contact Points*","authors":"N. Mimura, Y. Funahashi","doi":"10.1299/JSMEC1988.35.462","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.462","url":null,"abstract":"In this paper, the kinematics of the planar multifingered robot hand is investigated for grasping and manipulation of some objects. The kinematics equations and the conditions for grasping and manipulation with rolling contact points are derived. The contact finger forces are affected by small contact point displacement, however, grasping and manipulation conditions remain unchanged. Finally, the effects of contact point displacement are illustrated concretely by numerical examples of point and rolling contact.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129965741","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.353
K. Tanifuji, M. Oya
When the new Shinkansen train, the series 100EC, came into service, lasting longitudinal vibration with a constant frequency arose frequently near the maximum operation speed. The lasting vibration was the first modal vibration excited by vertical track irregularities through the pitching motion of bogie trucks. This paper describes analytical results of the effects of the rubber stiffness on the longitudinal vibration characteristics. The rubber used for fixing the primary damper is a type of vibration isolator acting in series with the damper, and its stiffness must be reduced in order to allow the damper to incline with relative horizontal displacement between the truck frame and the axle box. However, when the stiffness is too low, the damping effect deteriorates. In the realistic range of reduced stiffness, the first modal longitudinal vibration increases with the decreasing stiffness, and when the stiffness is further reduced, the vibration due to truck pitching grows markedly.
{"title":"An Analysis of Longitudinal Vibration for Bogie Vehicle : Effects of the Lowered Stiffness of Rubber Vibration Isolators Used for Fixing Dampers in the Primary Suspension","authors":"K. Tanifuji, M. Oya","doi":"10.1299/JSMEC1988.35.353","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.353","url":null,"abstract":"When the new Shinkansen train, the series 100EC, came into service, lasting longitudinal vibration with a constant frequency arose frequently near the maximum operation speed. The lasting vibration was the first modal vibration excited by vertical track irregularities through the pitching motion of bogie trucks. This paper describes analytical results of the effects of the rubber stiffness on the longitudinal vibration characteristics. The rubber used for fixing the primary damper is a type of vibration isolator acting in series with the damper, and its stiffness must be reduced in order to allow the damper to incline with relative horizontal displacement between the truck frame and the axle box. However, when the stiffness is too low, the damping effect deteriorates. In the realistic range of reduced stiffness, the first modal longitudinal vibration increases with the decreasing stiffness, and when the stiffness is further reduced, the vibration due to truck pitching grows markedly.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125726686","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.378
P. Tung
The model consists of a mass attached to a linear spring and a linear viscous dashpot impacting a rigid obstruction with a coefficient of velocity restitution. The amplitude and stability of the periodic responses are determined and bifurcation analysis for these motions is carried out by using the piecewise linear feature.
{"title":"Dynamics of a nonharmonically forced impact oscillator","authors":"P. Tung","doi":"10.1299/JSMEC1988.35.378","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.378","url":null,"abstract":"The model consists of a mass attached to a linear spring and a linear viscous dashpot impacting a rigid obstruction with a coefficient of velocity restitution. The amplitude and stability of the periodic responses are determined and bifurcation analysis for these motions is carried out by using the piecewise linear feature.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127909640","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.456
K. Yamafuji, Dai Fukushima, Keiichiro Maekawa
A double-pendulum-type mobile robot, which can shift laterally from one horizontal bar to an adjacent bar, has been studied. The robot is equipped with pivoted double-link arms and grippers installed on the free ends of the arms. First, one arm of the robot grasps one of several bars arranged horizontally at regular intervals with its gripper, and the second arm is immobile, hanging from its upper pivoted end. When the latter is swung by an actuator following the control path, vibratory excitation is induced in the robot. As a result of this excitation, the gripper end of the second arm is swung up to the neighboring bar, at which point the gripper grasps the bar, and the first arm's gripper releases the original bar. Then the robot moves laterally by one pitch of the bars, and shifts continuously through the bars by repeating the sequerice. It is confirmed by experiments as well as by computer simulation that the robot can shift through the horizontal bar array using excitation of the system. The concept of control paths, proposed here, is very useful. Furthermore, this mobile robot provides a unique example of dynamic interference problems between arms with and without an actuator in order to indute excitation in the entire system.
{"title":"Study of a mobile robot which can shift from one horizontal bar to another using vibratory excitation","authors":"K. Yamafuji, Dai Fukushima, Keiichiro Maekawa","doi":"10.1299/JSMEC1988.35.456","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.456","url":null,"abstract":"A double-pendulum-type mobile robot, which can shift laterally from one horizontal bar to an adjacent bar, has been studied. The robot is equipped with pivoted double-link arms and grippers installed on the free ends of the arms. First, one arm of the robot grasps one of several bars arranged horizontally at regular intervals with its gripper, and the second arm is immobile, hanging from its upper pivoted end. When the latter is swung by an actuator following the control path, vibratory excitation is induced in the robot. As a result of this excitation, the gripper end of the second arm is swung up to the neighboring bar, at which point the gripper grasps the bar, and the first arm's gripper releases the original bar. Then the robot moves laterally by one pitch of the bars, and shifts continuously through the bars by repeating the sequerice. It is confirmed by experiments as well as by computer simulation that the robot can shift through the horizontal bar array using excitation of the system. The concept of control paths, proposed here, is very useful. Furthermore, this mobile robot provides a unique example of dynamic interference problems between arms with and without an actuator in order to indute excitation in the entire system.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115040443","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}
Pub Date : 1992-09-15DOI: 10.1299/JSMEC1988.35.427
A. Morán, M. Nagai
This paper presents a new design method for an active suspension control system based on H∽ optimization robust control theory. A four-degrees-of-freedom half-car model equipped with independently controlled front and rear active suspensions is analyzed. Time, frequency and spectral analyses show that the active suspension maintains the tire-road contact force for good maneuvering, stability and handling, reduces the vibration transmissibility and attenuates the passenger-perceived acceleration, improving the ride comfort. The robustness properties of the H∽-optimization-based suspension controller are examined and compared with those of a conventional LQG-based active suspension.
{"title":"Analysis and Design of Active Suspensions by H∽ Robust Control Theory","authors":"A. Morán, M. Nagai","doi":"10.1299/JSMEC1988.35.427","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.427","url":null,"abstract":"This paper presents a new design method for an active suspension control system based on H∽ optimization robust control theory. A four-degrees-of-freedom half-car model equipped with independently controlled front and rear active suspensions is analyzed. Time, frequency and spectral analyses show that the active suspension maintains the tire-road contact force for good maneuvering, stability and handling, reduces the vibration transmissibility and attenuates the passenger-perceived acceleration, improving the ride comfort. The robustness properties of the H∽-optimization-based suspension controller are examined and compared with those of a conventional LQG-based active suspension.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131152407","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}
Pub Date : 1992-09-01DOI: 10.1299/JSMEC1988.35.470
Y. Matsuzaki, K. Hosokawa, K. Funabashi
In this paper, the sealing mechanism of knife-edge seals was explained and a new type of knife edge was developed. The following results were obtained: (1) The sealing mechanism of knife-edge seals was divided into three types according to the width of the flat area on the apex of the knife edge: (a) the penetration type, (b) the indentation type, and (c) the intermediate type. The Pc/l-values of the compressive force for sealing were the lowest in the case of type (a). (2) The developed knife edge had a sealing mechanism of the penetration type (a). The Pc-values of contact pressure for sealing were nearly equal to the Meyer's hardness in the sealing surface layer, regardless of both the surface roughness and the sealing surface finish. In the cases where sealing materials of copper, carbon steel and stainless steel were utilized, the Pc/l-values were approximately 15-40, 45-110 and 80-190 kN/m, respectively.
{"title":"Effect of Surface Roughness on Contact Pressure of Static Seals : Sealing Characteristics of Knife-Edge Seals","authors":"Y. Matsuzaki, K. Hosokawa, K. Funabashi","doi":"10.1299/JSMEC1988.35.470","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.470","url":null,"abstract":"In this paper, the sealing mechanism of knife-edge seals was explained and a new type of knife edge was developed. The following results were obtained: (1) The sealing mechanism of knife-edge seals was divided into three types according to the width of the flat area on the apex of the knife edge: (a) the penetration type, (b) the indentation type, and (c) the intermediate type. The Pc/l-values of the compressive force for sealing were the lowest in the case of type (a). (2) The developed knife edge had a sealing mechanism of the penetration type (a). The Pc-values of contact pressure for sealing were nearly equal to the Meyer's hardness in the sealing surface layer, regardless of both the surface roughness and the sealing surface finish. In the cases where sealing materials of copper, carbon steel and stainless steel were utilized, the Pc/l-values were approximately 15-40, 45-110 and 80-190 kN/m, respectively.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123029865","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}
Pub Date : 1992-06-15DOI: 10.1299/JSMEC1988.35.201
K. Hara, R. Yokogawa
The present paper deals with precision insertion for chamferless parts with uncertain positional information by heuristic search. The heuristic search is constructed of fuzzy pattern matching between fuzzy sets of search areas and one of the hole center positions. Fuzzy pattern matching evaluates the value of the heuristic function. The search of the hole is started in the search area having the highest value of the heuristic function. RCC (remote center compliance) and a force sensor are used in the search. RCC finely modifies the position of the peg and the force sensor detects whether the insertion has succeeded. The usefulness of this method is shown by experimental results.
{"title":"Precision insertion by heuristic search with fuzzy pattern matching","authors":"K. Hara, R. Yokogawa","doi":"10.1299/JSMEC1988.35.201","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.201","url":null,"abstract":"The present paper deals with precision insertion for chamferless parts with uncertain positional information by heuristic search. The heuristic search is constructed of fuzzy pattern matching between fuzzy sets of search areas and one of the hole center positions. Fuzzy pattern matching evaluates the value of the heuristic function. The search of the hole is started in the search area having the highest value of the heuristic function. RCC (remote center compliance) and a force sensor are used in the search. RCC finely modifies the position of the peg and the force sensor detects whether the insertion has succeeded. The usefulness of this method is shown by experimental results.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129774062","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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