有効なトルク制御が可能で安全なロボットのための可変トルクリミッタの設計と評価

早大学位記番号:新7966早稲田大

Future Transportation

Greenhouse gas (GHG) emissions associated with transportation activities account for approximately 20 percent of all carbon dioxide (co2) emissions globally, making the transportation sector a major contributor to the current global warming. This book focuses on the latest advances in technologies aiming at the sustainable future transportation of people and goods. A reduction in burning fossil fuel and technological transitions are the main approaches toward sustainable future transportation. Particular attention is given to automobile technological transitions, bike sharing systems, supply chain digitalization, and transport performance monitoring and optimization, among others

Digital flight control actuation system study

Flight control actuators and feedback sensors suitable for use in a redundant digital flight control system were examined. The most appropriate design approach for an advanced digital flight control actuation system for development and use in a fly-by-wire system was selected. The concept which was selected consisted of a PM torque motor direct drive. The selected system is compatible with concurrent and independent development efforts on the computer system and the control law mechanizations

Voyager spacecraft. Volume II - Preferred design - Subsystems Final technical report, phase IA, task B

Preferred design for Voyager spacecraft subsystem

Lunar deep drill apparatus

A self contained, mobile drilling and coring system was designed to operate on the Lunar surface and be controlled remotely from earth. The system uses SKITTER (Spatial Kinematic Inertial Translatory Tripod Extremity Robot) as its foundation and produces Lunar core samples two meters long and fifty millimeters in diameter. The drill bit used for this is composed of 30 per carat diamonds in a sintered tungsten carbide matrix. To drill up to 50 m depths, the bit assembly will be attached to a drill string made from 2 m rods which will be carried in racks on SKITTER. Rotary power for drilling will be supplied by a Curvo-Synchronous motor. SKITTER is to support this system through a hexagonal shaped structure which will contain the drill motor and the power supply. A micro-coring drill will be used to remove a preliminary sample 5 mm in diameter and 20 mm long from the side of the core. This whole system is to be controlled from earth. This is carried out by a continuously monitoring PLC onboard the drill rig. A touch screen control console allows the operator on earth to monitor the progress of the operation and intervene if necessary

Development of assembly and joint concepts for erectable space structures

The technology associated with the on-orbit assembly of tetrahedral truss platforms erected of graphite epoxy tapered columns is examined. Associated with the assembly process is the design and fabrication of nine member node joints. Two such joints demonstrating somewhat different technology were designed and fabricated. Two methods of automatic assembly using the node designs were investigated, and the time of assembly of tetrahedral truss structures up to 1 square km in size was estimated. The effect of column and node joint packaging on the Space Shuttle cargo bay is examined. A brief discussion is included of operating cost considerations and the selection of energy sources. Consideration was given to the design assembly machines from 5 m to 20 m. The smaller machines, mounted on the Space Shuttle, are deployable and restowable. They provide a means of demonstrating the capabilities of the concept and of erecting small specialized platforms on relatively short notice

Development of Integrated Systematic Approach Conceptual Design and TRIZ using Safety Principles in Embodiment Design for Complex Products

There are many conceptual design methods available for the engineering design world. Of all the methods, two significant methods are chosen to be integrated for the effective conceptual design process. These are the systematic Approach (SA) and the Theory of Inventive Problem Solving (TRIZ). SA consists of the Systematic Approach Conceptual Design (SACD) and Systematic Approach Embodiment Design (SAED), which were established by Pahl and Beitz, and widely used in industry and by academics. In addition, TRIZ is actively practiced in companies that wish to innovate creative and inventive designs. Although both methods have contrasting features there are some similarities that enable them to be united and harmonized. Many scholars have attempted to develop a new methodology by combining SA and TRIZ but none have integrated the safety principles of SAED with the inventive principles of TRIZ. In designing complex artefacts, constraints and safety are the main issues in the design change process. Implementing safety at a later stage might compromise the concept ideas and end up being a conventional and common concept design. This study developed a conceptual design method, TRIZ-SA, with a specialized safety approach combining the Function Constraint Model (FCM) and the Safety Principle Guide (SPG) as the method’s tools. The method aims to encourage the intervention of safety in the conceptual design process to stimulate ideas for solutions that are efficient in safety and creativity. The development of TRIZ-SA is through qualitative content analysis of the work of many scholars and patents. The pairwise comparative analysis is also conducted in the development of the 8-Step. The validation of the combined method for the safety approach is done through a conceptual design case study on the geometric and shape design of an aircraft’s Main Landing Gear (MLG). The combination of SA and TRIZ resulted in an easier solution finding process for an artefact that requires high concern in terms of safety, thereby opening up a new perspective in the designing concept of a complex artefact and shaping the design path towards a safe and creative concept design. The implications of this study will help designers optimize and develop a safe and inventive concept design in an effective and creative way

A study of the market development of a system of paper electrophoresis instruments

Thesis (M.B.A.)--Boston Universit