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日本機械学会関東支部総会講演会講演論文集の検索結果

ブロックコポリマーテンプレートへの極低温斜方蒸着による金ナノキラル構造の製作 CiNiiでみる

著者名:
古澤 岳  菅 哲朗 

抄録:

This paper reports on A single-layer circular dichroic filter in visible light region. A clear Au nano chiral structures were fabricated by combining block copolymer nano dot array template and iced glancing angle deposition, and transferred to a PDMS film to achieve circular dichroic filter. The Au nano spiral had 70-nm-diameter, 80-nm-hight, and a single turn. This filter showed a very large circular dichroism of 518 mdeg at a wavelength of 717 nm. The optical characteristics of the device were evaluated using a circular dichroism spectrometer (J-720W) of JASCO. There was a tendency to form an independent chiral structure more easily than the condition that did not use the dot template reported in the past, and circular dichroism improved more than 17 times. This single-layer and thin film has optical characteristics with the same strength as the circular dichroic filter of the previous research.


出版年月日:
2020 , 
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穿刺対象の硬さと穿刺深さに着目した構造可変ピンの穿刺特性の評価 CiNiiでみる

著者名:
藤田 捷人  土肥 健純  桑名 健太 

抄録:

In this paper, we evaluated the insertion and extraction force of the deformable pin, which we have already proposed, during the insertion and extraction process to gelatin focusing on the stiffness of the target and the insertion depth. The proposed deformable pin becomes hard to be extracted from the object after insertion by the shape change. The shape is changed by the thin film fixed to the tip of the pin being stretched. The stiffness of the gelatin, which was used as a model of a living body, was changed by the gelatin concentration. The insertion and extraction force was measured at 10, 20 and 30 % by inserting the pin 16, 18.5 and 21 mm in depth. The insertion and extraction force of the deformable pin increased with the increase of the stiffness. The extraction force when the insertion depth was 21 mm was 2.2 times at 10 % gelatin, 2.0 times at 20 % and 2.4 times at 30 % compared to that when the insertion depth was 16 mm. This result indicates that the extraction force of the deformable pin can be controlled by the insertion depth.


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熱酸化法によるCuOナノワイヤ生成及びスーパーキャパシタ電極性能に及ぼす生成条件の影響 CiNiiでみる

著者名:
松永 光広  土肥 優希  柳澤 一星  木村 文哉  細井 厚志  巨 陽  川田 宏之 

抄録:

Some nanostructures using a transition metal oxide such as CuO, which is attracting attention as a pseudo-capacitive material, is applied to the electrode surface. In this research, one of the nanostructures, CuO nanowire was synthesized by thermal oxidation method. In addition, influence of the fabrication conditions on capacitance of supercapacitor electrode was investigated. In order to investigate the influence, morphological observation, wettability evaluation, and cyclic voltammetry were conducted for the CuO nanowire specimen. As a result, depending on the production conditions, differences were observed both in the wettability of the specimen surface and in the results of cyclic voltammetry. The surface of the CuO nanowire specimen heated for 6 and 8 hours showed hydrophilicity, on the other hand that heated for 2 and 4 hours showed hydrophobicity. Only the specimen heated for 6 hours with hydrophilicity showed good electrochemical properties. Consequently, it became clear that the conditions for synthesized the test piece by the thermal oxidation method affect the wettability of the test piece surface which affects the performance of the supercapacitor electrode.


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局所ケミカルセンシングを目指した生体ナノポアプローブの開発 CiNiiでみる

著者名:
庄司 観  川野 竜司  White Ryan J. 

抄録:

This paper describes nanopore probe techniques that biological nanopores are reconstituted into the lipid bilayer formed at the tip of micro and nano electrodes for spatially resolved chemical sensing. An artificial cell membrane with biological nanopores is a powerful bio-integrated system for single molecular detection with high sensitivity, temporal resolution, and molecular selectivity. In addition, a biological nanopore probe that the artificial cell membrane is formed at the tip of a micro glass pipette attract attention as a probe of scanning ion conductance microscopy (SICM). However, it is still challenging to prepare stable artificial membranes. Here, we describe new methods to form artificial lipid membranes using micro and nano electrodes as a supported structure. This membrane is formed at the tip of the electrodes by immersing the microelectrode into a layered bath solution consisting of an oil/lipid mixture and an aqueous electrolyte solution. In this paper, we apply this stable, supported lipid bilayer structure for channel current measurements of poreforming toxins and single-molecule detection. Furthermore, we demonstrate spatially resolved chemical sensing by preparing a microfluidic-based platform. We believe that the supported lipid membranes can potentially be adopted as the probe of SICM because of the stability and its easy procedure to prepare lipid membranes.


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誘導加熱による低融点金属の相変化を利用したクラッチの再結合手法の提案 CiNiiでみる

著者名:
三宅 章太  長濱 峻介  菅野 重樹 

抄録:

To adapt a rotary clutch using the phase change of low-melting metal proposed previously to mechanical systems is difficult because it is necessary to put the proposed mechanism in hot water during self-healing. Therefore, in this paper, we focused on the fact that Induction heating can simplify the heating mechanism attached to the proposed mechanism. In the experiment, the fracture torque of the proposed mechanism after and before self-healing was measured, and it was shown that the proposed mechanism could be self-healed by induction heating.


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大変形を伴う梁のダイナミクスと変分的積分法による数値解析 CiNiiでみる

著者名:
谷口 靖憲  𠮷村 颯  鈴木 雄也  吉村 浩明 

抄録:

In conjunction with analysis of flexible body dynamics such as a beam undergoing large deformation, it has been a crucial technical issue that such flexible body dynamics requires a long time stability in numerical integration, while the conventional scheme, for instance, Backward differential formula (BDF), which is known as a stiffly stable scheme, sometimes leads to serious numerical errors in a long-time energy computation. In this paper, we consider a flexible beam undergoing large deformations by employing Simo's model and show how a variational integrator can be developed by discrete Hamilton's principle (see Marsden and West), which is known as a structure-preserving scheme with a long-time energy stability. In particular, we examine the variational integrator to compare with BDF and Runge-Kutta method. Finally, we show the validity of the variational integrator in a long-time energy stability by comparing with other schemes.


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自ら形状を作り出す空気圧マニピュレータの溶着伸展機構 CiNiiでみる

著者名:
佐竹 祐紀  石井 裕之 

抄録:

Recently, soft robotics has become a very popular topic. In this paper, we introduce a novel soft manipulator that grows with making its own structure. Our manipulator consists of an inflatable tube for body and a tip machine that includes growing and feeding mechanisms and heat welding mechanism. It makes bending points by welding the tube, thus it can make bending structure during growing whenever necessary. In experiment, we confirm that our manipulator can grow along the horizontal on the ground, bend around the yaw axis, bend around the pitch axis and climb a wall. Length of horizontal growing without supports by the ground depends on the inner pressure of the tube, thus the high inner pressure enables the manipulator to grow longer. Our manipulator can control the bending radius around yaw axis, and it enables the manipulator to make various curves, such as an arc shape and an S shape. In addition, the manipulator can climb over steps by several bending around the pitch axis. These capabilities enable the manipulator to take various shapes and used in various environments.


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バネ内蔵リムなし車輪の登坂性能の評価 CiNiiでみる

著者名:
杉本 諒  久保田 孝 

抄録:

As a cause for giving up the operation of exploration robot, the problem that a wheel gets stacked, has been paid attention. While so many researchers study the environment recognition and autonomy, few researchers are interested in mobility mechanism. This paper focuses on rimless wheel which has both the environmental adaptability of legs and the mobility of wheel. In this paper, Lagrange equation is derived from the biped model, which consists of spring pendulum. Then the derived equation is numerically obtained to know the wheel behavior. According to the simulation results, the rimless wheel has better mobility than the wheel without springs. The moving speed changes depending on the spring constant. In addition, it shows that it is possible to climb up a slope of up to 30deg with a constant torque by using the optimal spring constant.


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極限環境下で作業可能な災害対応ロボットの開発 (第 35 報:多様なバルブ・スイッチおよび工具に対応した指・手掌部の設計) CiNiiでみる

著者名:
佐藤 丈弘  松原 孝将  山口 航希  内藤 博  名村 圭祐  寺江 航汰  村上 将嗣  吉田 駿也  高西 淳夫  橋本 健二  今井 朝輝  並木 明夫  毛利 哲也  孫 瀟  松澤 貴司  大河原 正篤  木村 駿介  熊谷 健吾 

抄録:

We propose a design method for fingers and palm of the disaster response robot WAREC-1R to operate various valves, switches and tools. Effective layout and shape of fingers and palm to manipulate target objects are designed by modeling the objects based on the MIL standard. With the developed end-effector, it is possible to grip an electrical drill with allowable external force of 44 N, handle the switches (push, rotary, knob-type rotary, key) in maximum and minimum size of MIL standard and operate valves with various handle diameters in two ways: palm grip and fingertip grip.


出版年月日:
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壁面跳躍により月縦孔の探査を行う小型ロボットの偏心車輪機構の設計 CiNiiでみる

著者名:
鈴木 滋英  松広 航  Win Nu Nu  春山 純一  菅原 雄介  高西 淳夫  石井 裕之 

抄録:

On the Moon, several deep pits that probably associates with large igneous caves like lava tubes have been found. The lunar pits and caves are significant for lunar science and as candidates for lunar bases. In this trend, we are investigating a small robot system WAseda PIt exploring roboT (WAPIT) to explore the lunar pits. WAPIT has two wheels for its running on the surface of the Moon, and a winch for its vertical descent of a lunar pit. During descent to the bottom of the hole, WAPIT is supported by a tether connected with the lander system or a base settled near the rim of the pit. The robot gets over overhangs on the wall of the hole by jumping from the wall and free falling at a distance from the overhangs. Since the wall jumping is realized by rotating drop-shaped wheels, the shape of the wheels greatly affects their jump performance. To find appropriate wheel shapes, we investigated dynamics of jumping wheels. Wall jumping is modeled as an interaction between a wall and a double rigid pendulum consisting of a wheel and a body. Numerical simulation resulted in that the longer the shape, the better the jumping performance.


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弦に生じる2次モードの面外強制振動 CiNiiでみる

著者名:
趙 いき  藪野 浩司 

抄録:

In this paper, a method for stabilizing the out-of-plane motion in an externally excited string was proposed. For strings, the non-planar motion is caused by the nonlinear coupling of stiffness between the in-plane motion in excitation direction and out-of-plane motion perpendicular to the excitation one. To eliminate the out-of-plane motion, we theoretically analyzed the excitation mechanism of the out-of-plane motion and proposed a control method by actuating the boundary condition according to the feedback with respect to the velocity of the string. As a result, when the feedback gain is set to be greater than the critical value, the out-of-plane motion will be eliminated. In the stabilization mechanism, the velocity feedback can increase the equivalent damping effect on the out-of-plane motion so that the out-of-plane motion can be eliminated. Moreover, a series of experiments were conducted, and we found that the out-of-plane motion was stabilized through displacement feedback with first mode and velocity feedback with second mode, which experimentally confirmed the validity of the proposed method.


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SPH法によるクラウドキャビテーションの2次元流れに関する数値解析 CiNiiでみる

著者名:
牛奥 隆博  吉村 浩明 

抄録:

In cavitation phenomena, it is considered that many bubbles cooperatively behave to form a collection of bubbles called a cloud, although it is not well clarified how such a cavitation cloud performs in unsteady states from generation to collapse. In particular, it is a crucial issue to understand how to generation the associated shock waves with the collapse of cavitation clouds. On the other hand, it is not clear how such a cloud is rigorously (maybe mathematically or physically) defined nor how its collective motion can be elucidated in the context of the multiphase fluid flow, although some numerical studies have been already presented. In this study, in order to clarify such an unsteady motion of the cavitation cloud, we make a two-dimensional numerical analysis of the multiphase flow for a submerged water-jet injection into water through a nozzle, where we employ the mixture model of liquid and gas for modeling the bubbly water-jet and the numerical analysis is in particular based on the Lagrangian description using the Smoothed Particle Hydrodynamics method. We illustrate how the cavitation clouds form and behave in the context of the flow analysis.


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単一気泡のリバウンド挙動と圧壊に伴う衝撃波の実験的観察 CiNiiでみる

著者名:
陳 祖河  今村 貴志  牛奥 隆博  吉村 浩明 

抄録:

Cavitation is known as a phenomenon in which the pressure of a fluid moving with a high speed locally drops below the saturation pressure due to a phase transition to generate countless bubbles, where a shock wave is considered to be induced from the collapse of the bubbles. As to the single bubble dynamics, it has not been well understood in experiments how the shock wave is induced from the collapse of the bubble. Then, in this study, we make an experimental study of rebounding phenomena of a trapping single bubble by ultrasonic vibration in a water and we observe how the shock wave is produced by the collapse of the single bubble. For observing the rebound phenomenon of the single bubble, we employ two high-speed cameras to observe the bubble collapse and then we show the impact pressure associated to the shock wave from the data that we observed in experiments. Lastly, we make some numerical studies to verify rebounding phenomena as well as the impact pressure due to the shock wave appeared in experiments.


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水上自動走行ロボットに必要なセンサに関する研究 CiNiiでみる

著者名:
高橋 隼  高嶋 祥平  長瀬 亮 

抄録:

At the Department of Innovative Mechanical and Electronic Engineering, Chiba Institute of Technology, we are planning the competition called "Robot Triathlon" for development of our department. In this competition, we plan to use renewable energy to get the destination. First of all we fly the robot containing a rocket from coastline to the sea. Next the robot sails to land automatically by own sensors, programs and actuators. Finally after arriving on land, the robot runs to the final destination. We considered that it needs the robot's self-location, facing direction and wind direction. They can be detected by GPS sensor, absolute encoder with a wing and geomagnetic sensor respectively. Basic experiment was conducted about the sensors.


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分子動力学法によるCO2ハイドレート内部における分子拡散係数の算出 CiNiiでみる

著者名:
本田 恒太  金子 暁子  阿部 豊 

抄録:

CO2 emission reduction is necessary to mitigate global warming. Sub-seabed Carbon Capture and Storage is effective way to curve CO2 emission. However, CO2 leakage is an inevitable risk attached to CCS, and will harm human being and ecosystem. Thus, the estimation of amount of CO2 leakage from sub-seabed CO2 reservoir is essential. At deep oceans, CO2 hydrate forms at the interface between sea water and CO2 leakage, and reduce the dissolution velocity of CO2. Hence, elucidate the mass transport mechanism in CO2 hydrate is essential to predict the amount of CO2 leakage. Molecular diffusion of CO2 and H2O is a key part of the mechanism. However, due to it's crystal structure, mean square displacement (MSD) is inadequate to calculate molecular diffusivity. In this study, molecular dynamics is performed to simulate molecular diffusion in CO2 hydrate. And the rates of migrations is calculated to evaluate the effects of molecular migration forms. Finally, the diffusivities is calculated by the rate of migrations, and is good agreements with experiments.


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海上移動ロボットにおける制御方法の検討 CiNiiでみる

著者名:
高嶋 祥平  高橋 隼  長瀬 亮 

抄録:

At the Department of Innovative Mechanical and Electronic Engineering, Chiba Institute of Technology, we are developing robots for realizing a new robot competition that moves autonomously in land, sea and air using renewable energy. In this paper, we examined the control method of moving autonomously from the sea to the land using wind power, and verified the effectiveness by experiments. The sailing mobile robot controls the sail and rudder from the sensor output and calculates their appropriate angles to obtain the propulsion to the destination. In the experiment, we verified whether the sail and rudder were properly controlled from the sensor output and we confirmed that the robot can be sailing autonomously to appropriate destination.


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摂動を受けるレイリー・ベナール対流におけるカオス的混合と分岐現象 CiNiiでみる

著者名:
渡辺 昌仁  吉村 浩明 

抄録:

In order to predict a spread of contaminants in the atmospheric environment, it is crucial to investigate the mechanism of Lagrangian transport of such contaminants under fluid convection. However, the Lagrangian transport of such a fluid particle becomes chaotic and hence its global structure has not been enough clarified. In this context, we study a two-dimensional Rayleigh-Benard convection with periodic perturbations to investigate the global structure of periodic orbits and their bifurcations when the amplitude of the perturbation is varied. We show that elliptic periodic points appear at the center of quasi-periodic regions, while hyperbolic periodic points appear in the chaotic regions. We also show the bifurcation diagram of such periodic orbits by varying the amplitude of the perturbation to clarify the global structure of the perturbed two-dimensional Rayleigh-Benard convection.


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静電浮遊法による二重液滴を用いた界面張力測定に及ぼす半径比の影響 CiNiiでみる

著者名:
加藤 翔真  松本 聡  金子 暁子  阿部 豊 

抄録:

When dealing with molten metal, the interface of molten metal and slug is generated by slag accumulating. Interfacial phenomena at molten metal – slag is important in metal quality and Interfacial tension is significant in interfacial phenomena. Therefore, interfacial tension measurement is strongly required for metal quality. If the temperature of measurement sample is high, the container of handling sample would be melt. To handle the high temperature sample, levitation technique was developed. Electrostatic levitation method is employed in this study due to smaller deformation of liquid sample than other techniques. In this research, interfacial tension was measured by using droplet oscillation method which is method of obtaining interfacial tension by observing and analyzing the droplet oscillation. As a result, depending on radius ratio of internal and external material, measured interfacial tension value is difference and this difference is smallest when radius ratio is almost 1.3. In the theory used to calculate the interfacial tension, inviscid, concentric and small oscillation is assumed. Under this assumption, since it was shown that there is difference in measured values, it is necessary to review and consideration.


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フルゾーン液柱内温度差マランゴニ対流のカオス流への遷移について CiNiiでみる

著者名:
小林 耀  工藤 正樹 

抄録:

We investigated thermocapillary convection in a full zone liquid bridge simulating the floating zone method, which is one of the single crystal growth method. It is required to suppress oscillatory thermocapillary convection in order to improve the quality of single crystals. For controlling of the oscillatory flow, we should understand the structures of unsteady thermal and flow field. In present study, the thermal structures were investigated by using an IR camera, and the flow structures were observed by a flow visualization technique. The nonlinearities of the thermal fields were evaluated by using a chaos time series analysis. Aspect ratios of the liquid bridge was kept constant. The silicone oil with Prandtl number of 28 was used. The thermal and flow fields were investigated from a critical point to 5 times of the point. The result showed that the transition from periodic oscillatory flows to a chaotic one occurred at about 2.5 times of the critical point.


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時間高階微分と周波数解析に基づくカオス的状態遷移の前兆抽出 CiNiiでみる

著者名:
天沼 裕太  柳尾 朋洋 

抄録:

Predicting uncertain future is one of the biggest problems for us. As a method of predicting uncertain future, we paid attention to the method called Hankel Alternative View of Koopman (HAVOK) (1). With this method, one can identify a mode, which is indicative of precursors to chaotic transitions of a system, through Hankel matrix analysis. While this method describes numerically the time evolution of eigen modes by linear ordinary differential equations with intermittent forcing, in this study, we derive analytically the equations of motion for the eigen modes. Based on this result, we make a conjecture that higher-order time derivatives of a collective variable can capture precursors to chaotic transitions, and confirm it using the Lorenz system. Moreover, we show numerically that higher-order time derivatives are related to high frequency oscillations of a collective variable and their amplitude increases a little right before chaotic transitions in the Lorenz system.


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