Study on the Interactions between the Multipolarization of International Politics and Japan’s Multilateral Diplomacy in the 1970s

科学研究費補助金(若手研究B)研究成果報告書：2008-2010 研究課題：20730112research repor

Western and Asian/African Camps in Japan's UN Diplomacy during the Cold War - A Study on the Process of Coordination and Confrontation

科学研究費助成事業 研究成果報告書：基盤研究(C)2015-2018課題番号 : 15K03309research repor

<Article> Japan's UN Cooperation in the Cultural and Educational Spheres: Diplomacy Regarding the Establishment of the United Nations University

departmental bulletin pape

Japanese multipurpose cooperation with United Nations Organizations 1946-92 : comprehensive security, domestic political stability, and national prestige

筑波大学University of Tsukuba博士（国際政治経済学）Doctor of Philosophy in International Political Economy1999【要旨】thesi

A Historical Study on the Interactions between Bilateral Alliance and Multilateralism in Japan\u27s Foreign Relations in the Detente Era

科学研究費助成事業 研究成果報告書：基盤研究(C)2011-2014 課題番号：2353018

Virtual teaching method for ABB IRB4600 robot

针对当前工业机器人示教中,虚拟示教方式存在场景真实度低、灵活性差等问题,对工业机器人的虚拟示教进行了研究,应用虚拟现实技术,提出了一种面向ABB IRB4600系列机器人的虚拟示教设计方法。分析了ABB IRB4600机器人的运动学特性,进行了其正逆运动学的求解。参照真实示教器,进行了虚拟示教器的开发：利用正则表达式设计了RAPID语言解释器,对机器人的运动轨迹进行了规划,用于运动指令的解析。以真实机器人车间为例,进行了虚拟示教场景的搭建。研究结果表明：所开发的机器人虚拟示教系统在一定程度上弥补了当前工业机器人虚拟示教存在的不足,具有较高的灵活性、沉浸感强,用户可以方便地进行机器人的示教。Aiming at existing problems of virtual robot teaching,like low-reality of scene,poor flexibility and so on,virtual teaching was studied.And a design method of virtual teaching is presented for ABB IRB4600 series robot with Virtual Reality technology.And kinematics characteristics of ABB IRB4600 robot was studied and kinematics problem were solved.With reference of real teaching pendant,the development of the virtual teaching pendant was carried out.And the interpreter was designed for the RAPID language with the use of regular expression;especially for motion command,the path planning of the robot was studied.And the virtual teaching scene was built in accordance with real robot station.The results indicate that the virtual teaching system in a manner makes up the shortcomings of virtual teaching pendant.There are high-flexibility and strong immersion,and the system can be used to teach industrial robot flexibly and conveniently.福建省科技重大专项资助项目（2015HZ0002-1

Improvement of column of machine tool based on modal analysis

机床在工作时,由于要承受各种变载荷而产生振动,其精度和寿命会受到影响,因此有必要对机床进行模态分析,了解其动态特性,以便进一步分析和改进。采用3d建模软件对机床进行建模和装配,将得到的模型导入HyPErMESH建立有限元模型,再将有限元模型导入AnSyS进行模态分析,得到机床在两种工作情况下的固有频率和振型。最后根据模态分析结果对机床立柱进行优化,得出优化结构。When the machine tool is in operation,it will undergo a variety of dynamic loads which as a consequence incur vibrations and degrade machining precision.Therefore,modal analysis is highly demanded to gain an insight into the dynamics of machining system and direct further analysis and optimization.In such a circumstance a corresponding machine tool is established via 3D CAD software and subsequently preprocessed by HYPERMESH.The finite element model produced by HYPERMESH is eventually analyzed by ANSYS to receive the natural frequencies and mode shapes of the target machine tool.An optimization design of the column of the target machine tool is thus developed based upon the modal information.国家自然科学基金资助项目(70772093);福建省高等学校新世纪优秀人才支持计划资助项目;厦门市科技计划项目(3502Z20090003

Improvement of the Rib Plate in Machine Tools Column Based on Topology Optimization

在拓扑优化的基础上,提出根据拓扑优化结果改进筋板布局的方法,并结合案例,构造了基于相对密度法的连续体结构动力学拓扑优化设计数学模型,以结构的相对密度为设计变量,分别以柔度最小化、一阶固有频率最大化为目标和两者结合的多目标进行拓扑优化。在采用多目标优化时,对两个目标用加权和方法进行折衷处理,通过设置权值来确定两者在优化中所起作用大小。优化后得出不同的密度云图,根据密度云图所示材料分部,改进筋板布局,达到提高机床动、静态特性的目的。By means of topology optimization technique,an approach doing improving the layout of rib plates directed by the outcome of topology optimization is proposed herein.In consideration of actual engineering scenarios,the mathematical models of structural dynamic characteristic topology optimal design on continuum structures were established,then this model carries out topology optimization of pillar structures by making the relative density of the structure as the design variables with minimizing the compliance,maximizing the first order natural frequency as the objectives and a combination of the two as a multi-objective respectively.When optimizing with multi-objective,compromise programming method is adopted to process the two objectives and the effects of the two objectives are determined by the weight.After optimization,different density nephograms are created.With the aid of the material distribution shown in density nephograms,the layout of rid plate is re-engineered and the static and dynamic performance of the investigated machine tool is therefore remarkably enhanced.国家自然科学基金资助项目(70772093);福建省高等学校新世纪优秀人才支持计划资助项目;厦门市科技计划项目3502Z2009000