2022/11/29 更新

写真a

ミヤシタ トモユキ
宮下 朋之
Scopus 論文情報  
論文数: 0  Citation: 0  h-index: 9

Citation Countは当該年に発表した論文の被引用数

所属
理工学術院 創造理工学部
職名
教授
プロフィール
1992年 新日本製鐵株式会社 2000年 早稲田大学 理工学部 助手 2002年 茨城大学 工学部 助手 2005年 早稲田大学 理工学部 准教授 2010年 早稲田大学 理工学部 教授

他学部・他研究科等兼任情報

  • 理工学術院   大学院創造理工学研究科

  • 附属機関・学校   グローバルエデュケーションセンター

学内研究所・附属機関兼任歴

  • 2020年
    -
    2022年

    理工学術院総合研究所   兼任研究員

  • 2020年
    -
    2022年

    国際情報通信研究センター   兼任研究員

学歴

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    早稲田大学   理工学部   機械工学科  

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    早稲田大学   理工学研究科   機械工学専攻  

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    早稲田大学   理工学部   機械工学専攻  

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    早稲田大学   理工学部   機械工学専攻  

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    早稲田大学   理工学研究科   機械工学専攻  

学位

  • 早稲田大学   博士(工学)

経歴

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    早稲田大学理工学部機械工学科

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    早稲田大学世紀COE「超高齢社会における人とロボット技術の共生」研究員

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    茨城大学工学部知能システム工学科

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    新日本製鐵株式会社

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    早稲田大学GCOE「グローバルロボットアカデミア」研究員

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    早稲田大学GCOE「グローバルロボットアカデミア」研究員

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    早稲田大学世紀COE「超高齢社会における人とロボット技術の共生」研究員

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    茨城大学工学部知能システム工学科

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    早稲田大学世紀COE「超高齢社会における人とロボット技術の共生」研究員

  •  
     
     

    新日本製鐵株式会社

▼全件表示

所属学協会

  •  
     
     

    The American Institute of Aeronautics and Astronautics

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    The American Society of Mechanical Engineers

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    The International Society of Structural and Multidisciplinary Optimization

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    日本応用数理学会

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    情報処理学会

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    日本計算工学会

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    日本機械学会

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研究分野

  • 航空宇宙工学

  • 機械力学、メカトロニクス

  • 医用システム

  • 設計工学

  • 機械要素、トライボロジー

  • ロボティクス、知能機械システム

  • 機械力学、メカトロニクス

▼全件表示

研究キーワード

  • 探傷・点検

  • 自動車

  • 人工衛星

  • ロボット

  • 構造同定

  • 振動工学

  • 最適設計

  • 数理計画法

  • 宇宙構造物

  • 宇宙工学

  • 材料力学

  • 機械力学

  • 設計工学

▼全件表示

論文

  • Visco-Elasto-Plastic Behavior of Creased Space Membrane

    Yasutaka Satou, Hiroshi Furuya, Shoko Kaida, Tomoyuki Miyashita

    AIAA JOURNAL    2022年05月

     概要を見る

    This paper addresses the ways by which the releasing and deploying behaviors of a creased space membrane can be predicted accurately. Although existing studies have analyzed the released shape of a creased membrane by considering the elasto-plastic properties, the shape did not agree with the experimental results when the membrane was tightly creased. To examine the released shape of the membrane, creasing and releasing experiments are first conducted. The experimental results indicate that the opening angle of the crease increases with increasing elapsed time after the release due to stress relaxation. The stress relaxation behavior is predicted using finite element analysis (FEA) by considering the visco-elasto-plastic material properties. In addition, an analytical model of the releasing and deploying membrane has been proposed here. The results of the FEA and the analytical model indicate that the released angles are in good agreement with those in the experimental results. Thus, the effects of viscosity are considered important for predicting the releasing behavior of the space membrane.

    DOI

    Scopus

  • Virtual Shadow Drawing System Using Augmented Reality for Laparoscopic Surgery

    Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita

    ADVANCED BIOMEDICAL ENGINEERING   11   87 - 97  2022年

     概要を見る

    Laparoscopic surgery holds great promise in medicine but remains challenging for surgeons because it is difficult to perceive depth while suturing. In addition to binocular parallax, such as threedimensional vision, shadow is essential for depth perception. This paper presents an augmented reality system that draws virtual shadows to aid depth perception. On the visual display, the system generates shadows that mimic actual shadows by estimating shadow positions using image processing. The distance and angle between the forceps tip and the surface were estimated to evaluate the accuracy of the system. To validate the usefulness of this system in surgical applications, novices performed suturing tasks with and without the augmented reality system. The system error and delay were sufficiently small, and the generated shadows were similar to actual shadows. Furthermore, the suturing error decreased significantly when the augmented reality system was used. The shadow-drawing system developed in this study may help surgeons perceive depth during laparoscopic surgery.

    DOI

    Scopus

  • Effect of Sand Mold Constraint on Warpage Deformation of Lamellar Graphite Gray Cast Iron and Prediction by Elastoplastic-Creep Finite Element Analysis

    Muhammad Khairi Faiz, Kengo Uehara, Tomoki Nakajima, Toshitake Kanno, Yuichi Hiramoto, Tomoyuki Miyashita, Toshimitsu Okane, Makoto Yoshida

    JOURNAL OF MATERIALS ENGINEERING AND PERFORMANCE   30 ( 6 ) 4669 - 4680  2021年06月

     概要を見る

    Casting that comprises multiple parts with different thicknesses is prone to experience warpage deformation due to the non-uniform temperature distribution from the beginning of solidification to room temperature. This study is the first to investigate the effect of sand mold shake-out timing on the warpage deformation of a lamellar graphite gray cast iron casting with thick and thin geometries by both experiment and finite element analysis. It was found that warpage deformation was suppressed by 81.6% when the shakeout was performed just after A1 (austenite to ferrite) phase transformation temperature rather than after eutectic solidification temperature. The elastoplastic-creep analysis was proven to predict the warpage amount better than elastoplastic analysis, in which prediction error was reduced by 116%. The introduction of creep term that should not contribute to the work-hardening of the casting was assumed to relax the stress and suppress the warpage deformation; however, poor estimation of the creep properties at about 1000 degrees C to the A1 transformation temperature reduced the prediction accuracy. A sudden increase of warpage was observed and predicted during shakeout due to the release of the elastic strain that was accumulated as a result of sand mold constraint.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • Leg-circle transformable wheel for improved runnability of a lunar rover

    Ayako Torisaka, Kohei Eguchi, Satoshi Miura, Victor Parque, Tomoyuki Miyashita

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   32 ( 9 ) 1013 - 1023  2021年05月

     概要を見る

    This paper proposes a wheel with a deployable leg that can change the apparent wheel radius to improve the runnability of a rover traversing a lunar surface covered with regolith. The driving force of the wheel was formulated according to terramechanics, and relations for the changing driving force with the different configurations were clarified. The simulated driving forces with the original wheel configuration and extended leg configuration were compared in a single-wheel experiment, and the results confirmed that the proposed extendable leg system exhibited a higher driving force than the original circular wheel. With this system, the rover can use the original wheel state for flat ground surfaces that do not require a high driving force and then switch to the proposed extendable leg system when a high driving force is required, such as escaping from local concave ground or climbing on steep slope. The proposed system is potentially applicable to efficiently traversing irregular surfaces not only on the Moon but also on other planets.

    DOI

    Scopus

  • Shape optimization of a three-dimensional membrane-structured solar sail using an angular momentum unloading strategy

    Satoshi Miura, Kazuki Saito, Ayako Torisaka, Victor Parque, Tomoyuki Miyashita

    Advances in Space Research   67 ( 9 ) 2706 - 2715  2021年05月

     概要を見る

    A shape of the satellite's solar sail membrane is essential for unloading angular momentum in the three-axis stabilized attitude control system because the three-dimensional solar sail can receive solar radiation pressure from arbitrary directions. In this paper, the objective is the shape optimization of a three-dimensional membrane-structured solar sail using the angular momentum unloading strategy. We modelled and simulated the solar radiation pressure torque, for unloading angular momentum. Using the simulation system, since the unloading angular momentum rate is maximized, the shape of the three-dimensional solar sail was optimized using a Genetic algorithm and Sequential Quadratic Programming. The unloading velocity in the optimized shaped solar sail was greatly improved with respect to a conventional flat or pyramid solar sail. (C) 2021 COSPAR. Published by Elsevier B.V. All rights reserved.

    DOI

    Scopus

    2
    被引用数
    (Scopus)
  • Attitude control of drone by using CMG

    Shigeto Ouchi, Nariyuki Kodani, Kento Inoue, Takeshi Inaba, Tomoyuki Miyashita, Hiromi Noguchi

    IEEJ Transactions on Electronics, Information and Systems   141 ( 3 ) 436 - 445  2021年03月

     概要を見る

    Drones, whose applications are rapidly expanding in recent years, have a wide range of uses, such as material transportation, pesticide spraying, structure inspection, and even the recently-flying cars, but it is difficult to fly in bad weather such as gusts. On the other hand, a CMG (Control Moment Gyro) is known which has the property of precessing when it is rotated by a force applied to the rotary shaft from the outside. Therefore, we wondered if the self-sustained control of the motorcycle using the CMG developed by the authors could be applied to the attitude control of the drone. In the paper, based on these findings, we modeled CMG and CMG-equipped drone based on the law of conservation of momentum, and the control law is obtained by using the optimal regulator method for the linearized model of the nonlinear system. The control effect has been confirmed by simulations. Based on the feedback gain confirmed by the simulation, the experiments have shown that CMG onboard drone are effective in suppressing wind disturbances equivalent to 22 m/sec and small vibrations of 0.7 to 4 Hz.

    DOI

    Scopus

  • Electromagnet-Based Three-Dimensional Self-Assembly System for Hierarchical Modular Space Structures

    Ayako Torisaka, Shoichi Hasegawa, Satoshi Miura, Victor Parque, Tomoyuki Miyashita, Hiroshi Yamakawa, M. C. Natori

    JOURNAL OF SPACECRAFT AND ROCKETS   58 ( 2 ) 472 - 485  2021年03月

     概要を見る

    This study focused on the hierarchical modular approach to assembling space structures, which can be scaled up to increasingly larger sizes. This approach is based on dividing a large space structure into multiple modules, each with homogeneous automatic assembly functions. Hence, the overall structure can have diverse shapes and functions depending on the arrangement of modules, regardless of the size of the structure. Conventional approaches use locomotion and docking/release mechanisms installed on each module, but have been limited to 2-D shapes. In this study, a mechanism was developed that uses permanent magnets and electromagnets to assemble the space structure into any shape in three dimensions. The response surface method and downhill simplex method were used to optimize the size and arrangement of the magnets for efficient locomotion. The proposed mechanism was applied to a demonstration experiment to evaluate its effectiveness compared with existing methods.

    DOI

    Scopus

  • Mathematical simulation of tumour angiogenesis: angiopoietin balance is a key factor in vessel growth and regression.

    Hayato Yanagisawa, Masahiro Sugimoto, Tomoyuki Miyashita

    Scientific reports   11 ( 1 ) 419 - 419  2021年01月  [国際誌]

     概要を見る

    Excessive tumour growth results in a hypoxic environment around cancer cells, thus inducing tumour angiogenesis, which refers to the generation of new blood vessels from pre-existing vessels. This mechanism is biologically and physically complex, with various mathematical simulation models proposing to reproduce its formation. However, although temporary vessel regression is clinically known, few models succeed in reproducing this phenomenon. Here, we developed a three-dimensional simulation model encompassing both angiogenesis and tumour growth, specifically including angiopoietin. Angiopoietin regulates both adhesion and migration between vascular endothelial cells and wall cells, thus inhibiting the cell-to-cell adhesion required for angiogenesis initiation. Simulation results showed a regression, i.e. transient decrease, in the overall length of new vessels during vascular network formation. Using our model, we also evaluated the efficacy of administering the drug bevacizumab. The results highlighted differences in treatment efficacy: (1) earlier administration showed higher efficacy in inhibiting tumour growth, and (2) efficacy depended on the treatment interval even with the administration of the same dose. After thorough validation in the future, these results will contribute to the design of angiogenesis treatment protocols.

    DOI PubMed

    Scopus

    4
    被引用数
    (Scopus)
  • Design optimization of copper patterns and location of power semiconductors and terminals

    Yusuke Abe, Akira Hirao, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammad Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2021 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2021)     157 - 158  2021年

     概要を見る

    In recent years, SiC power modules have attracted a lot of attention because they offer higher frequency and density as compared to the conventional Si power module. However high speed switching inevitably lead to the generation of surge voltage which may damage the power module. The design of layout, which composed of copper patterns, power semiconductors and terminals, is one of the factors that is necessary to overcome the problem. In this paper, the layout design of the half-bridge power module is optimized to reduce its internal inductance. The inductance was evaluated by electromagnetic field simulation.

    DOI

    Scopus

    2
    被引用数
    (Scopus)
  • Relationships of design parameters and the cooling performance of the spiral-fin heatsink

    Shingo Otake, Motohito Hori, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammad Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2021 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2021)     161 - 162  2021年

     概要を見る

    Due to the demand for miniaturization, further improvement in cooling performance is required for power modules. The spiral-fin heatsink we considered has higher cooling performance than conventional ones. In this paper, we examined the design parameters of the spiral-fin, and found that three parameters of spiral-fin have big effect for the cooling performance

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time.

    Victor Parque, Tomoyuki Miyashita

    15th International Conference on Ubiquitous Information Management and Communication(IMCOM)     1 - 8  2021年

     概要を見る

    Trees are useful entities allowing to model data structures and hierarchical relationships in networked decision systems ubiquitously. An ordered tree is a rooted tree where the order of the subtrees (children) of a node is significant. In combinatorial optimization, generating ordered trees is relevant to evaluate candidate combinatorial objects. In this paper, we present an algebraic scheme to generate ordered trees with n vertices with utmost efficiency; whereby our approach uses O(n) space and O(1) time in average per tree. Our computational studies have shown the feasibility and efficiency to generate ordered trees in constant time in average, in about one tenth of a millisecond per ordered tree. Due to the 1-1 bijective nature to other combinatorial classes, our approach is favorable to study the generation of binary trees with n external nodes, trees with n nodes, legal sequences of n pairs of parentheses, triangulated n-gons, gambler's sequences and lattice paths. We believe our scheme may find its use in devising algorithms for planning and combinatorial optimization involving Catalan numbers.

    DOI

    Scopus

    2
    被引用数
    (Scopus)
  • Development of Haptic Feedback Control Stick for Remote Control between Different Structures.

    Hokuto Kurihara, Sota Shimizu, Rikuta Mazaki, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

    IEEE International Conference on Mechatronics(ICM)     1 - 6  2021年

     概要を見る

    This paper develops a haptic feedback control stick for remote control of a two parallel wheeled rover. The authors apply a bilateral controller for this remote operating-operated system in which their structures are different. Thus, the developed haptic feedback control stick plays a role as not only an input device to give the velocity information to the system but also an output device by which the operator feels an estimated external force applied to the wheel of the rover. The haptic feedback control stick is strongly expected the operator can control the operated rover more intuitively and more safely. In this paper, the authors experimented by combining a linear-slide-type control stick and a single wheel computer simulator of the rover. However, the operator felt a force except the estimated force to the rover's wheel, in conditions that a time delay occurred because of a large dynamical difference between the control stick and the rover. Therefore, two types of experiments were compared, i.e., one used only the bilateral control and the other used switching the bilateral control and the force control according to a value of the time delay. These experimental results were discussed and evaluated as focusing on a situation when a time delay occurred.

    DOI

    Scopus

  • Haptic Feedback Rover Navigation Based on Positional Gain Adjusting Bilateral Control.

    Rikuta Mazaki, Sota Shimizu, Tomonoti Yamazaki, Hokuto Kurihara, Naoki Motoi, Roberto Oboe, Nobuyuki Hasebe, Tomoyuki Miyashita

    AMC     311 - 316  2021年

     概要を見る

    This paper presents a remote control between a haptic feedback control stick and a wheel of a two-parallel-wheeled rover. It is well-known that the operator's operability was improved largely by haptic information reproduced on the stick using the bilateral control. This haptic information corresponds to disturbance force/torque applied to the wheel of the rover. When the disturbance is estimated using the disturbance observer (DOB), its estimated value includes not only an external force, viscous resistance, Coulomb frictional force, and a force by a modelling error, but also a restoring force. The restoring force is a force occurring when an operating-operated robot system is synchronized by a position control. It often becomes a problem of the bilateral control using two robots with a dynamically-different structure. Particularly, our experimental system in this paper has a very large dynamical difference. In other words, there exists a fairly-large time delay between them. The DOB of the operating robot estimates a value including this restoring force. Intuitively, this seem to prevent the operator from feeling sensitively other forces applied to the wheel such as the external force. However, on the same time the authors think this restoring force is very important for the operator to know situations of the remote rover, e.g., whether it drives with the speed given as a command value or not. In this paper, we proposes a positional gain adjusting bilateral control method in order not to prevent the restoring force from feeling the external force and so on. The proposed method was experimented for verification. Experimental results were discussed and evaluated comparing to the following two cases: one is when a positional gain of the operating robot is reduced as the difference increases, and the other is when that of the operated robot is enhanced contrarily as the difference increases.

    DOI

  • Small-Scale Human Impact Anthropomorphic Test Device Using the Similarity Rule.

    Satoshi Miura, Souhei Takahashi, Victor Parque, Tomoyuki Miyashita

    IEEE Transactions on Industrial Electronics   68 ( 8 ) 7188 - 7198  2021年

     概要を見る

    Anthropomorphic test devices (ATDs) are useful for simulating human damage during traffic accidents. For large accidents such as train accidents, experiments using full-size ATDs are not feasible because of cost, space, and time requirements. However, it is difficult to develop small-scale ATDs because changes in geometry are not necessarily accompanied by commensurate changes in mass or force. In this study, we designed and developed small-scale human dummies using the similarity rule. We determined the similarity ratio and focused on the neck, chest, and abdomen, which are important for protecting organs and nerves. Drop, impact, and sled tests based on ISO TR9790 indicators were used to evaluate the ATD. The first ATD scored 4.69, which indicates "fair biofidelity"; the neck and chest delivered low scores during the sled and impact tests, respectively. We simulated the behavior of the ATD using finite element analysis; the experimental and analytical values were consistent. We modified the neck and chest parameters using simulation results and evaluated the optimized ATD using impact and sled tests. The optimized ATD scored a 6.56, which indicates "good biofidelity." In conclusion, we developed a small-scale ATD capable of satisfactorily simulating human behavior. Using the proposed ATD, we can reduce the opportunities for full-scale experiments.

    DOI

    Scopus

  • Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

    Satoshi Miura, Takayuki Nakagami, Victor Parque, Tomoyuki Miyashita

    MECHANICAL ENGINEERING JOURNAL   7 ( 4 )  2020年

     概要を見る

    This paper presents a method to inspect the interior of a winding small gas pipe using a hollow guide wire. There is no conventional method to insert an endoscope into an 8-bend 25-mm-diameter gas pipe within 2 hours. In medical practice, a guide wire inserted in advance enables insertion of a catheter into a vessel. However, it is impossible to insert a normal guide wire into a gas pipe because the wire buckles in the pipe. Thus, we designed a hollow guide wire with a small front diameter and large rear diameter, making the front soft and the rear stiff. This guide wire can be inserted without buckling or meandering. First, we measured mechanical properties such as the torsional spring constant and damping coefficient of the wire and the frictional coefficient between the pipe and wire. Second, we conducted an experiment inserting guide wires with various tip pitches, front lengths, front outer diameters, and rear outer diameters. Third, we analyzed the insertion distance by simulating guide wire insertion using the Lagrange method, and optimized the guide wire shape via the response surface method. Finally, the optimized guide wires were tested experimentally to validate the analysis. As a result, an optimized guide wire and an endoscope can both be inserted into a gas pipe and removed within just 3 minutes.

    DOI

  • Packaging of Thick Membranes using a Multi-Spiral Folding Approach: Flat and Curved Surfaces.

    Victor Parque, Wataru Suzaki, Satoshi Miura, Ayako Torisaka, Tomoyuki Miyashita, Michihiro Natori

    CoRR   abs/2012.05723 ( 9 ) 2589 - 2612  2020年

     概要を見る

    Elucidating versatile configurations of spiral folding, and investigating the deployment performance is of relevant interest to extend the applicability of deployable membranes towards large-scale and functional configurations.In this paper we propose new schemes to package flat and curved membranes of finite thickness by using multiple spirals, whose governing equations render folding lines by juxtaposing spirals and by accommodating membrane thickness. Our experiments using a set of topologically distinct flat and curved membranes deployed by tensile forces applied in the radial and circumferential directions have shown that (1) the multi-spiral approach with prismatic folding lines offered the improved deployment performance, and (2) the deployment of curved surfaces progresses rapidly within a finite load domain. Furthermore, we confirmed the high efficiency of membranes folded by multi-spiral patterns.From viewpoints of configuration and deployment performance, the multi-spiral approach is potential to extend the versatility and maneuverability of spiral folding mechanisms. (C) 2020 COSPAR. Published by Elsevier Ltd. All rights reserved.

    DOI

    Scopus

    6
    被引用数
    (Scopus)
  • An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time.

    Victor Parque, Tomoyuki Miyashita

    CoRR   abs/2011.03636  2020年

  • Estimation of Grasp States in Prosthetic Hands using Deep Learning.

    Victor Parque, Tomoyuki Miyashita

    44th IEEE Annual Computers, Software, and Applications Conference(COMPSAC)     1285 - 1289  2020年

     概要を見る

    The estimation of grasp states in myoelectric prosthetic hands is relevant for ergonomic interfacing, control and rehabilitation initiatives. In this paper we evaluate the possibility to infer the grasp state of a prosthetic hand from RGB frames by using well-known deep learning architectures in testing scenarios involving variations of brightness, contrast and flips. Our results show the feasibility, the attractive accuracy and efficiency to estimate prosthetic hand poses with a GoogLeNet-based deep architecture using relatively few training frames.

    DOI

    Scopus

    2
    被引用数
    (Scopus)
  • Towards Fast Data-Driven Smooth Path Planning with Fair Curves.

    Victor Parque, Tomoyuki Miyashita

    44th IEEE Annual Computers, Software, and Applications Conference(COMPSAC)     1115 - 1116  2020年

     概要を見る

    Path planning with smoothness considerations is of relevant interest to ensure the safety and the comfortability of passengers in mobile and vehicle navigation. In this paper, we present our preliminary results in computing smooth paths from observed mobile robot trajectories. Our approach enables the generation of alternative paths safer paths for navigation, and is potential to extend towards the fitting and fairing of curves with utmost efficiency.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • Evaluation of Virtual Shadow's Direction in Laparoscopic Surgery.

    Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao 0006, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita

    8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics(BioRob)     205 - 211  2020年

     概要を見る

    Laparoscopic surgery can realise minimal invasive surgery. However, it's difficult for surgeon to recognize the depth during suturing. Binocular endoscope helps surgeons to recognize the depth, but surgeons do not understand the circumstance by equipping with head mounted display. Since shadow helps surgeon to recognize the depth, in this paper, we developed the virtual shadow drawing system. The system shows shadow like actual by the estimation of the forceps position, surface shape and shadow's position. We tested the accuracy of the system by evaluating the estimated distance and angle between the forceps and the surface. The error and delay were enough small to draw shadow like actual. Furthermore, participants performed the suturing task while looking at the shadow. The experiment was carried out in a variety of the shadow's direction. As result, the suturing error's mean and variance value was the least at the 270 deg. In conclusion, the appropriate shadow would be vertical to the wounds.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • Smooth Curve Fitting of Mobile Robot Trajectories Using Differential Evolution.

    Victor Parque, Tomoyuki Miyashita

    IEEE Access   8   82855 - 82866  2020年

     概要を見る

    Mobile robots have recently attracted the attention and applicability in field areas ubiquitously. Within the context of autonomous navigation, path planning is relevant for comfortability, safety, execution time and energy savings. In this paper, we propose an approach to suggest smooth paths from observed robot trajectories by optimizing fitting and smoothness criteria using Differential Evolution with distinct modes of initialization, selection pressure, exploration and exploitation. Our rigorous computational experiments using a relevant set of real-world robot trajectories from the Boe-Bot mobile robot architecture show the feasibility and efficiency of our approach in computing smooth curves, suggesting the superior performance of the greedy initialization scheme based on the triangular convex hull of the robot trajectory, and Differential Evolution with exploitative and parameter adaptation schemes such as Rank-Based Differential Evolution (RBDE), Adaptive Differential Evolution with External Archive (JADE) and Strategy Adaptation Differential Evolution (SADE). Our obtained results offer the building blocks to further advance towards developing data-driven curve fitting and path planning algorithms, which may find use in several real-world applications in Robotics and Operations Research.

    DOI

    Scopus

    14
    被引用数
    (Scopus)
  • Enhanced frequency analysis on a vibrated tumor with a compression cylinder

    Satoshi Miura, Hidekazu Ishiuchi, Yuta Shintaku, Victor Parque, Ayako Torisaka, Tomoyuki Miyashita

    ROBOMECH Journal   6 ( 1 )  2019年12月  [査読有り]

     概要を見る

    © 2019, The Author(s). Breast cancer diagnosis has been mostly accomplished through imaging. These methods have great advantages in being able to detect the presence and location of breast cancer. However, it is difficult to distinguish between a benign and malignant tumor located in a deep position because both tumor types look similar. In this paper, tissue including the tumor from skin was vibrated using a compression cylinder, to analyze the frequency difference for distinguishing tissue type. Before distinguishing between a benign and malignant tumor, it is necessary to validate that the difference between normal tissue and tumor can be distinguished. The objective of the study is to validate the feasibility to emphasize the frequency differences in a 10.0 mm or greater deep tumors during vibration by pushing a cylinder towards the deep tumor. A phantom model and finite element analysis model were constructed to simulate the breast. In the experiment, air was injected into the phantom and the displacement was measured. The frequency response for distinction of tissue types was analyzed and it was found that the displacement difference rate was over 50% at a frequency of 130 Hz when the cylinder was pushed into the sample as opposed to when not pushed in. Changes in displacement were measured according to the distance between the tumor and vibration point using finite element analysis. When the measurement and vibration points were on the center of the tumor, the difference in the resonance point was at its largest (5.5 Hz). Results show that the position of a tumor could be easily and rapidly detected by vibrations from a cylinder pushed into the diagnostic site.

    DOI

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    2
    被引用数
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  • Development of Human-Like Driving Decision Making Model based on Human Brain Mechanism

    Tsuyoshi Sakuma, Satoshi Miura, Tomoyuki Miyashita, Masakatsu G. Fujie, Shigeki Sugano

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019     770 - 775  2019年04月  [査読有り]

     概要を見る

    © 2019 IEEE. Recent driving assistance technologies such as Electronic Stability Control (ESC) and auto brake system release drivers from complicated driving tasks. On the other hand, there is concern that it reduces pleasure feelings of a driver if these system's behaviors are different from the driver's intention. To avoid such problem, it is important to evaluate the driver's intention and decision-making process, and design the assistance system to fit it. In this research, we propose an unsupervised reinforcement learning driver model based on human cognitive mechanism and human brain architecture. Because this study's objective is to analyze the process of driving decision making, we hire a simple actor-critic model as a driver model. We set learning parameters from the driver's decision making characteristics which are derived from the task execution process of the human brain, and set state space from driver's sensory characteristics. This driver model can predict lane change decision making adequately and shows high accuracy (ACC=94%) on verification tests with real driving data. This result is similar to unpublished results of a deep neural network driver model which use the same data as teaching data. From these results, we consider that the proposed reward function and learned state space represent the driver's decision making characteristics.

    DOI

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  • Design factors for determining the radula shape of Euhadra Peliomphala.

    Satoshi Miura, Rikako Saito, Victor Parque, Tomoyuki Miyashita

    Scientific reports   9 ( 1 ) 749 - 749  2019年01月  [国際誌]

     概要を見る

    Biomimetics present useful ideas for various product designs. However, most biomimetics only mimic the features of living organisms. It has not been clarified how a given shape is attained through natural selection. This paper presents the design factors that optimize the radula shape of Euhadra peliomphala. Clarifying the important design factors would help designers in solving several problems simultaneously in order to adapt to complicated and multi-functionalized design mechanisms. We measured the radula of Euhadra peliomphala by using a microscope and modeled the grinding/cutting force using the finite element analysis (FEA). We reproduced the natural selection using multi-objective genetic algorithm (MOGA). We compared the solutions when optimizing the radula shape using objective functions of each combination of stress, cutting force, abrasion, or volume. The results show that the solution obtained through two-objective optimization with stress and cutting force was the closest to the actual radula shape.

    DOI PubMed

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    5
    被引用数
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  • Development of virtual pipe simulation system for inspection robot design

    Satoshi Miura, Kazuya Kawamura, Masakatsu Fujie, Shigeki Sugano, Tomoyuki Miyashita

    Proceedings of the International Conference on Engineering Design, ICED   2019-August   3611 - 3620  2019年  [査読有り]

     概要を見る

    © 2019 Design Society. All rights reserved. Pipe inspection robots have been developed to reduce the cost and time required for gas pipe inspection. However, these robots have been developed using a scrap and build method and are not used in practice. In this paper, we propose a method of virtual pipe inspection simulation to clarify the parameters that are important in increasing the robot's ease of use. This paper presents the results obtained by a feasibility study with regard to pipe simulation. We developed a virtual pipe by simulating eight actual turns of an external gas pipe, and a robot equipped with camera at the tip. In the experiments, three individuals working in the field of gas inspection carried out the operation. We obtained questionnaire, time, and brain activity data. The results revealed various important points that must be considered in practical simulation and robot design. In conclusion, the virtual pipe simulation can be useful in developing the design of a pipe inspection robot.

    DOI

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    1
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  • Heatsink design using spiral-fins considering additive manufacturing

    Shingo Otake, Yoshihiro Tateishi, Hiromichi Gohara, Ryoichi Kato, Yoshinari Ikeda, Victor Parque, Muhammed Khairi Faiz, Makoto Yoshida, Tomoyuki Miyashita

    2019 INTERNATIONAL CONFERENCE ON ELECTRONICS PACKAGING (ICEP 2019)     46 - 51  2019年

     概要を見る

    In recent years, there have been increasing the number of power modules which is required with high performance, miniaturization and weight saving. But these requires cause high heat generation density for power module, which gets junction operation temperature to rise. Cooling unit is thus greatly demanded for high heat dissipation. The simple shaped heatsinks (straight-fin type and pin fin type) were generally used. But they have the limit of cooling performance. In this report, we have developed new heatsink shape to cope with rapidly increasing of the cooling requirement. Cooling performance is shown to thermal resistance and pressure loss. We evaluated them by thermal fluid analysis. In this approach, the spiral-fin heatsink with spiral curved channels has excellent cooling performance. This shape is the unique point in this report. This is because the shape with three-dimensional regular curve has not been studied. The spiral-fin heatsink has many factors (tin thickness, fin pitch, the number of channels, etc.). These factors affect cooler performance. We changed these factors to determine the best shape of spiral-fin. As a result, the best shape is 14.9[%] lower than the straight-fin type in thermal resistance.

  • Characterisation of the humming-type noise and vibration of the automotive HVAC system

    Satar, M.H.A., Mazlan, A.Z.A., Hamdan, M.H., Md. Isa, M.S., Man, S., Paiman, M.A.R., Abd. Ghapar, M.Z., Sulaiman, M.S.A., Miyashita, T.

    International Journal of Automotive and Mechanical Engineering   16 ( 2 )  2019年

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    9
    被引用数
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  • Path Bundling in Modular Bipartite Networks

    Parque, V., Miura, S., Miyashita, T.

    Advances in Intelligent Systems and Computing   873  2019年

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  • Benchmarking Learning Networks on Eat-Sleep Conditions.

    Victor Parque, Hammed Obasekore, Solomon Oladayo, Tomoyuki Miyashita

    IEEE 1st Global Conference on Life Sciences and Technologies(LifeTech)     29 - 30  2019年

    DOI

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  • On Planning Distributed Minimal Sensor Networks.

    Victor Parque, Hammed Obasekore, Solomon Oladayo, Tomoyuki Miyashita

    IEEE 1st Global Conference on Life Sciences and Technologies(LifeTech)     26 - 28  2019年

    DOI

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  • 自動車エアバッグを想定したらせん折り形状の設計に関する研究

    野村 勇太, パルケ ビクター, 三浦 智, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2019   2204 - 2204  2019年

     概要を見る

    <p>In this study we propose the use of spiral folding to deploy automotive airbags, and propose the folding pattern considering creases, which has the potential benefits to diminish friction during storage and bring benefits to faster deployment. Our preliminary experiments show the feasibility to deploy airbags by using the spiral folding approach, and the reasonable consistency between the modeling and real-world deployment. Our results offer preliminary insights for further study on spiral folding mechanisms and safest deployment performance.</p>

    DOI CiNii

  • 筋負担のバラツキを考慮した手術支援ロボットの最適化

    三浦 智, 菊池 宏太郎, Victor Parque, 宮下 朋之

    ロボティクス・メカトロニクス講演会講演概要集   2019   1A1 - B01  2019年

     概要を見る

    <p>This paper presents a surgical robot mechanism optimization method considering of the working error and operator's muscle burden. The virtual surgical system was developed to simulate the visual and haptic feedback. The participants operated the VR surgical simulation system while the authors measured the working error and the participant's joint motion. The histogram was made of the data to show the distribution. The authors estimated the appropriate probabilistic distribution model using Akaike's Information Criterion (AIC) method. As a result, there were many cases most applicable to the Weibull model.</p>

    DOI CiNii

  • Study on in-plane and out-of-plane deformation considering elastic plasticity of membrane

    A. Torisaka, K. Ogawa, S. Miura, V. Parque, T. Miyashita, H. Yamakawa

    AIAA Scitech 2019 Forum    2019年  [査読有り]

     概要を見る

    © 2019 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. This research formulates the two-dimensionally model of a membrane with crease line which is always added when the thin material is used for deployable space structure like a solar sail. Recent space development is tending to focus on installing a system on a ultra-light weight structure, so when the membrane is chosen as the base of space structure, the keeping accuracy of the membrane surface is the point of interest. This means how to reduce the wrinkle appeared on the membrane becomes the key point. However, the most research on modelling the membrane limit to the one dimension model, or if any, the plastic deformation is not considered. Here in this paper, the authors established the two-dimensionally membrane model considering the plasticity and clarified from analysis and experiment that wrinkles can be reduced by giving crease to a membrane. In the model assuming the actual antenna installed structure and with the actual load condition, the fact is obtained that a crease perpendicular to the loading direction should be applied to a position one fifth between the load application point and the wrinkle generated region. This position can be considered to be able to reduce wrinkle the most from the view point of amount of energy required to eliminate wrinkles.

    DOI

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    4
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  • Data Assimilation Using the Particle Filter for Online Identification of Organ Properties

    Sojuro Nakano, Satoshi Miura, Parque Victor, Ayako Torisaka, Tomoyuki Miyashita

    IET The Journal of Engineering (JOE)    2019年01月  [査読有り]

    DOI

  • Development of a new 3-DOF parallel manipulator for minimally invasive surgery.

    Alaa Khalifa, Mohamed Fanni, Abdelfatah M Mohamed, Tomoyuki Miyashita

    The international journal of medical robotics + computer assisted surgery : MRCAS   14 ( 3 ) e1901  2018年06月  [国際誌]

     概要を見る

    This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3-DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). The manipulator consists of 3 limbs exhibiting identical kinematic structure. Each limb contains an active prismatic joint followed by 2 consecutive passive universal joints. The proposed manipulator has a unique arrangement of its joints' axes. This unique arrangement permits large bending angles, ±90° in any direction, and a workspace almost free from interior singularities. These advantages allow the proposed manipulator to outperforms existing surgical manipulators. However, this unique arrangement makes the analysis of the robot extremely difficult. Therefore, a geometrical/analytical approach is used to facilitate its singularity analysis. Construction of the virtual prototype is accomplished using ADAMS software to validate the proposed manipulator and its bending capability. A closed-form solution for inverse kinematics is obtained analytically. Also, the forward kinematics solution is obtained numerically. Moreover, evaluation of the workspace is achieved using motion/force transmissibility indices. A practical experiment has been performed using a scaling technique and PID controller. The experimental results show the feasibility of the teleoperated surgical system using the proposed parallel manipulator as the slave.

    DOI PubMed

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    6
    被引用数
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  • Obstacle-Avoiding Euclidean Steiner Trees by n-Star Bundles

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 30TH INTERNATIONAL CONFERENCE ON TOOLS WITH ARTIFICIAL INTELLIGENCE (ICTAI)     315 - 319  2018年

     概要を見る

    Optimal topologies in networked systems is of relevant interest to integrate and coordinate multi-agency. Our interest in this paper is to compute the root location and the topology of minimal-length tree layouts given n nodes in a polygonal map, assuming an n-star network topology. Computational experiments involving 600 minimal tree planning scenarios show the feasibility and efficiency of the proposed approach.

    DOI

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    10
    被引用数
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  • Unranking Combinations using Gradient-based Optimization

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 30TH INTERNATIONAL CONFERENCE ON TOOLS WITH ARTIFICIAL INTELLIGENCE (ICTAI)     579 - 586  2018年

     概要を見る

    Combinations of m out of n are ubiquitous to model a wide class of combinatorial problems. For an ordered sequence of combinations, the unranking function generates the combination associated to an integer number in the ordered sequence. In this paper, we present a new method for unranking combinations by using a gradient-based optimization approach. Exhaustive experiments within computable allowable limits confirmed the feasibility and efficiency of our proposed approach. Particularly, our algorithmic realization aided by a Graphics Processing Unit (GPU) was able to generate arbitrary combinations within 0.571 seconds and 8 iterations in the worst case scenario, for n up to 1000 and m up to 100. Also, the performance and efficiency to generate combinations are independent of n, being meritorious when n is very large compared to m, or when n is time-varying. Furthermore, the number of required iterations to generate the combinations by the gradient-based optimization decreases with m in average, implying the attractive scalability in terms of m. Our proposed approach offers the building blocks to enable the succinct modeling and the efficient optimization of combinatorial structures.

    DOI

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    3
    被引用数
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  • Spiral Folding of Thin Films with Curved Surface

    Victor Parque, Kohei Ogawa, Satoshi Miura, Tomoyuki Miyashita

    2018 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     1699 - 1704  2018年

     概要を見る

    Being ubiquitously used as anti-adhesive and wound-covering mechanisms, thin films have potential therapeutic uses as cell sheets to target inner organs while navigating narrow environments. A significant challenge to realize versatile films lies in achieving compact storage and efficient transport while ensuring coherency in curvature-bounded environments. In this paper, we propose a folding mechanism of a curved film by using a spiral approach, enabling efficient unfolding and flexible plasters with curved surfaces. Our experiments using gelatin-based films with curved surfaces shows the superior indwelling ability in terms of chromaticity level compared to the conventional planar films, as well as the efficient unfolding in the order of seconds. Our results presents the theoretical and experimental building blocks to realize a versatile class of films which are able to navigate narrow environments, and unfold efficiently and flexibly.

    DOI

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    4
    被引用数
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  • Development of Driving Intention Prediction System Based Cognitive Mechanism

    Tsuyoshi Sakuma, Satoshi Miura, Tomoyuki Miyashita, Masakatsu G. Fujie, Shigeki Sugano

    PROCEEDINGS OF 2018 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR)     573 - 578  2018年

     概要を見る

    The advance of driving assistance technologies such as Electronic Stability Control (ESC) or auto break system, drivers are released from complicated driving tasks. On the other hand, there is concern that it reduces pleasure feelings of a driver if these system's behaviors are different from the driver's intention. To avoid such problem, it is important to evaluate the driver's intention and decision-making process, and design the assistance system to fit it. Although methods such as sensory subjective evaluation are commonly used, the human cognitive mechanism design behind them is not yet fully understood. In this paper, we introduce a novel method for evaluating driver's decision-making process based on the numerical simulation of the driver's behavior. By using this method, the assistance system can substitute the driver appropriately and driver can accept the system's maneuver because which is same as the driver's intention. As an example of this method we evaluate the relationship between decision-making timing and estimation time length of the driver's model. One possible method to simulate the driver's decision-making is machine learning. Reinforcement learning has been studied for simulating the human's brain function to learn and decide as action and state model. We used machine learning to create the reinforcement learning driver model, and a simple vehicle simulation model which are combined as a human-vehicle model. We used the simple vehicle and driver model because the aim of this research is to investigate whether the driver's decision-making process can be simulated or not. Then the model is simulated to learn to drive on a highway with 3 lanes and other vehicles. The simulated driver made some single lane change to pass a slower vehicle in front or to go out from highway at an interchange. Results showed that the decision-making timing depend on the estimation time of the reinforcement learning model. We exposed that the model behaves similar to general driver's behavior when the estimation time was settled as 7sec which is derived from human brain's cognitive mechanism. In conclusion, our simulation model based on human cognitive mechanism can simulate the driver's lane change decision- making behavior adequately.

  • A new novel six-degree of freedom two-link manipulator using active magnetic bearing: Design, kinematics, and control

    Selmy, M., Fanni, M., Mohamed, A.M., Miyashita, T.

    International Journal of Advanced Robotic Systems   15 ( 6 )  2018年

     概要を見る

    Due to the absence of mechanical contact, active magnetic bearing can be electrically controlled in an accuracy of a micrometer. This makes it a good choice to be used for robot manipulation in the micrometer scale, especially in environments that need to be very clean, for example, surgery or clean rooms. Moreover, it can be used in the applications that need high precision micromotion such as semiconductor wafers manipulation. Despite all these benefits, there are few studies that have investigated the application of active magnetic bearing in the robotics field in spotless environments for micromotion applications. This article proposes a new novel six-degree of freedom two-link manipulator using two contactless joints with active magnetic bearing. The key design aspects of the proposed manipulator are presented. The proposed manipulator is designed using finite element method. Each joint roll angle is controlled using a PID-based feedback linearization controller, while a state feedback controller with integral term is used for controlling the active magnetic bearing five-degree of freedom. The stability analysis of the system, under the proposed controller, is carried out. The robustness of the controllers is tested against end effector payload variations. The results demonstrate that the proposed two-link manipulator is feasible and valid for the applications in spotless environments that need high precision accuracy micromotion control. These significant findings have indicated the feasibility of implementing this proposed manipulator in practice and open the door for developing other types of robots with complete contactless joints using active magnetic bearing.

    DOI

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    1
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  • Path planning on hierarchical bundles with differential evolution

    Parque, V., Miyashita, T.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10941 LNCS  2018年

    DOI

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    6
    被引用数
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  • Dynamic Modeling and Inverse Optimal PID with Feed-forward Control in H <inf>∞</inf> Framework for a Novel 3D Pantograph Manipulator

    Lashin, M., Fanni, M., Mohamed, A.M., Miyashita, T.

    International Journal of Control, Automation and Systems   16 ( 1 ) 39 - 54  2018年

     概要を見る

    This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulator possesses pure decoupled translational motions and it is characterized by large workspace to size ratio, high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However, the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplified nominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of the nominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Considering these dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, a new controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which is designed in H-infinity framework. The new controller has the following merits; robustness, optimality, simple implementation, and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance in the proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of error contrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is compared with those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation results via co-simulation of MSC-ADAMSA (R) and MATLABA (R)/Simulink software prove the robustness of the proposed controller against speed/payload variations. The proposed controller is found to have higher performance compared with IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with the proposed controller for pure translational tracking applications.

    DOI

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    9
    被引用数
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  • Mechanical-Based Model for Extra-Fine Needle Tip Deflection Until Breaching of Tissue Surface

    Tsumura, R., Miyashita, T., Iwata, H.

    Journal of Medical and Biological Engineering   38 ( 5 ) 697 - 706  2018年

     概要を見る

    Accurate estimation of needle deflection is necessary to successfully steer the needle to targets located deep inside the body. In particular, the deflection that occurs until the tissue surface is breached differs according to the tissue shape and stiffness. This topic has not been a focus of previous work. In the present paper, we propose a model with which to estimate the needle deflection that occurs until breaching of the tissue surface with consideration of the tissue shape and stiffness. This model comprises a cantilever beam supported by virtual springs that represent the interaction forces between the needle tip and tissue surface. The effects of different insertion angles and tissue stiffness on needle deflection are represented by changing the spring constants. The model was used in experiments involving four different insertion angles (0A, 15A, 30A, and 45A) and three different polyvinyl chloride (PVC) phantoms with different stiffness (100, 75, and 50%). We verified the proposed model with the 80% PVC phantom and showed a maximum error of 0.04 mm.

    DOI

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    1
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  • On parametric excitation for exploration of lava tubes and caves

    Parque, V., Kumai, M., Miura, S., Miyashita, T.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10860 LNCS   470 - 482  2018年

     概要を見る

    Huge lava tubes with an approximate diameter of 65-225 m were found on the surfaces of Moon and Mars in the late 2000's. It has been argued that the interiors of the caves are spacious, and are suitable to build artificial bases with habitable features such as constant temperature, as well as protection from both meteorites and harmful radiation. In line of the above, a number of studies which regard the soft landing mechanisms on the bottom of the lava tubes have been proposed. In this paper, aiming to extend the ability to explore arbitrary surface caves, we propose a mechanism which is able to reach the ceiling of lava tubes. The basic concept of our proposed mechanism consists of a rover connected to an oscillating sample-gatherer, wherein the rover is able to adjust the length of the rope parametrically to increase the deflection angle by considering periodic changes in the pivot, and thus to ease the collection of samples by hitting against the ceiling of the cave. Relevant simulations confirmed our theoretical observations which predict the increase of deflection angle by periodically winding and rewinding the rope according to pivotal variations. We believe the our proposed approach brings the building blocks to enable finer control of exploration mechanisms of lava tubes and narrow environments.

    DOI

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    1
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  • Towards the Succinct Representation of m Out of n

    Parque, V., Miyashita, T.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11226 LNCS  2018年

    DOI

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    3
    被引用数
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  • On vehicle surrogate learning with genetic programming ensembles.

    Victor Parque, Tomoyuki Miyashita

    Proceedings of the Genetic and Evolutionary Computation Conference Companion     1704 - 1710  2018年

    DOI

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    2
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  • Enhanced Frequency Difference of Tumor inside Vibrated Tissue by a Compression Cylinder.

    Satoshi Miura, Yuta Shintaku, Hidekazu Ishiuchi, Victor Parque, Tomoyuki Miyashita

    40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC)   2018   380 - 383  2018年  [国際誌]

     概要を見る

    Breast cancer diagnosis has been mostly accomplished by imaging technologies. These methods have the great advantages of detecting the presence and location of breast cancer. However, it's difficult to distinguish between a benign and malignant tumor in a deep position because both tumor types look similar. In this paper, we vibrated the tissue including tumor from skin with a compression cylinder to analyze the frequency difference for distinguishing the tissue type. Before distinguishing a benign and malignant tumor, it's necessary to validate to distinguish between normal tissue and tumor. The objective is to validate the feasibility of using a compression cylinder that emphasizes the differences in frequency between normal tissue and tumor. In two experiments, we measured the displacement on the surface of a breast phantom vibrated by an impulse hammer. We compared the frequency difference with and without a cylinder. We also studied the frequency changes in the relationship between tumor and cylinder position. We found a 5.0 Hz difference in compliance between normal tissue and the simulated tumor using a compression cylinder. The difference in frequency correlated negatively with distance from the simulated tumor to a compression cylinder. We concluded that a compression cylinder would enhance the frequency difference between normal tissue and a simulated tumor with appropriate configuration.

    DOI PubMed

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    2
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  • Spiral Folded Adhesive Plaster Optimization for Laparoscopic Surgery.

    Satoshi Miura, Naoya Tsuda, Victor Parque, Tomoyuki Miyashita

    40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC)   2018   151 - 154  2018年  [国際誌]

     概要を見る

    Laparoscopic surgery has the advantage of the minimally invasive for patients. However, the surgery is technically difficult for surgeon because high dexterity is required for suturing in the narrow patient's body. This paper presents a sealing method to locate the adhesive plaster at the incision instead of suturing. The objective is to optimize the plaster material and structure. We made the plaster with the thermally cross-linked gelatin film in a spiral fold because thermally cross-linked gelatin film has the high biocompatibility and tackiness, and a spiral fold has great storage efficiency. In 3 experiments, we measured expansion rate, expansion tension, peeling force, and sealing pressure in a variety of gelatin volume and concentration, and the films diameter. From these experimental results, we optimized the films using response surface method. As a result, the plaster is optimal at gelatin volume 10 mL, gelatin concentration 4 wt %, and films diameters 75 mm. We concluded that the optimized spiral folded adhesive plaster is sufficient in terms of the expansion, tackiness, and sealing properties.

    DOI PubMed

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    2
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  • Numerical Representation of Modular Graphs.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference     819 - 820  2018年

    DOI

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    3
    被引用数
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  • On Graph Representation with Smallest Numerical Encoding.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference     817 - 818  2018年

    DOI

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    3
    被引用数
    (Scopus)
  • On Learning Fuel Consumption Prediction in Vehicle Clusters.

    Victor Parque, Tomoyuki Miyashita

    2018 IEEE 42nd Annual Computer Software and Applications Conference     116 - 121  2018年

    DOI

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    1
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  • Optimal controller design for fully decoupled 3D transnational pantograph manipulator for high-speed pick and place.

    Manar Lashin, Abdullah T. Elgammal, Mohamed Fanni, Abdelfatah M. Mohamed, Tomoyuki Miyashita

    International Journal of Mechatronics and Automation   6 ( 4 ) 160 - 172  2018年

    DOI

  • 階層モジュラー型宇宙構造物の自己構築システムに関する研究

    長谷川 翔一, 三浦 智, ヴィクター パルケ, 宮下 朋之

    ロボティクス・メカトロニクス講演会講演概要集   2018   2A2 - B12  2018年

     概要を見る

    <p>In this paper, in order to develop a structure capable of coping with trend in large scale and the diversification of the space structure in recent years. We will propose a moving mechanism using electromagnets and permanent magnets. We make a real machine as a self-construction system that automatically joins and assembles to the target shape after dividing a large space structure into some modules and conveying them to outer space over several times. We confirmed the reliability of moving mechanism for modular space structure proposed in this paper by giving a success rate of movement completion through an experiment.</p>

    DOI CiNii

  • Low temperature Cu-Cu bonding by transient liquid phase sintering of mixed Cu nanoparticles and Sn-Bi eutectic powders

    M. Khairi Faiz, Kazuma Bansho, Tadatomo Suga, Tomoyuki Miyashita, Makoto Yoshida

    JOURNAL OF MATERIALS SCIENCE-MATERIALS IN ELECTRONICS   28 ( 21 ) 16433 - 16443  2017年11月

     概要を見る

    Fluxless bonding of plateless Cu-Cu substrates at processing temperature lower than 250 A degrees C and low pressure of 0.1 MPa was achieved by transient liquid phase sintering (TLPS) of mixed Cu nanoparticles and Sn-Bi eutectic powders. The effects of mixture composition, and sintering temperature on the shear strength, microstructure, and remelting temperature were investigated. Lowering the sintering temperature of Cu mixed with 65 weight percentage of Sn-Bi (Cu-65SnBi) resulted in decreased shear strength, however, at 200 A degrees C sintering temperature, the obtained highest shear strength was more than 20 MPa. It was found that it is essential to use Cu nanoparticles to accelerate the consumption so that no initial Sn-Bi phases remained after processing. The liquid phase generated at approximately 196 A degrees C during sintering from the reaction between newly formed Cu6Sn5 and Bi-phase was expected to facilitate the densification and strengthening of the joints. Although this newly generated liquid phase was known to solidify as hypereutectic Sn-Bi, by controlling the sintering temperature at 200 A degrees C, the remelting event at 139 A degrees C was not observed by differential scanning calorimetry. It is assumed that the proportion of solidified Sn-Bi eutectic phases in Cu-65SnBi that was sintered at 200 A degrees C were significantly small, hence, when reheated at 150 A degrees C, the obtained shear strength was equivalent to that at room temperature.

    DOI

    Scopus

    13
    被引用数
    (Scopus)
  • A method to learn high-performing and novel product layouts and its application to vehicle design

    Victor Parque, Tomoyuki Miyashita

    NEUROCOMPUTING   248   41 - 56  2017年07月  [査読有り]

     概要を見る

    In this paper we aim at tackling the problem of searching for novel and high-performing product designs. Generally speaking, the conventional schemes usually optimize a (multi) objective function on a dynamic model/simulation, then perform a number of representative real-world experiments to validate and test the accuracy of the some product performance metric. However, in a number of scenarios involving complex product configuration, e.g. optimum vehicle design and large-scale spacecraft layout design, the conventional schemes using simulations and experiments are restrictive, inaccurate and expensive.
    In this paper, in order to guide/complement the conventional schemes, we propose a new approach to search for novel and high-performing product designs by optimizing not only a proposed novelty metric, but also a performance function which is learned from historical data. Rigorous computational experiments using more than twenty thousand vehicle models over the last thirty years and a relevant set of well-known gradient-free optimization algorithms shows the feasibility and usefulness to obtain novel and high performing vehicle layouts under tight and relaxed search scenarios.
    The promising results of the proposed method opens new possibilities to build unique and high performing systems in a wider set of design engineering problems. (C) 2017 Elsevier B.V. All rights reserved.

    DOI

    Scopus

    5
    被引用数
    (Scopus)
  • Simple empirical model for identifying rheological properties of soft biological tissues

    Yo Kobayashi, Mariko Tsukune, Tomoyuki Miyashita, Masakatsu G. Fujie

    PHYSICAL REVIEW E   95 ( 2 ) 022418 - 022418  2017年02月  [査読有り]  [国際誌]

     概要を見る

    Understanding the rheological properties of soft biological tissue is a key issue for mechanical systems used in the health care field. We propose a simple empirical model using fractional dynamics and exponential nonlinearity (FDEN) to identify the rheological properties of soft biological tissue. The model is derived from detailed material measurements using samples isolated from porcine liver. We conducted dynamic viscoelastic and creep tests on liver samples using a plate-plate rheometer. The experimental results indicated that biological tissue has specific properties: (i) power law increase in the storage elastic modulus and the loss elastic modulus of the same slope; (ii) power law compliance (gain) decrease and constant phase delay in the frequency domain; (iii) power law dependence between time and strain relationships in the time domain; and (iv) linear dependence in the low strain range and exponential law dependence in the high strain range between stress-strain relationships. Our simple FDEN model uses only three dependent parameters and represents the specific properties of soft biological tissue.

    DOI PubMed

    Scopus

    13
    被引用数
    (Scopus)
  • DEFINITION AND SUPPORT OF DIFFERENTIATION AND INTEGRATION IN MECHANICAL STRUCTURE USING S-CURVE THEORY AND WAVELET TRANSFORM

    Takahiro Ishii, Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    DS87-6: PROCEEDINGS OF THE 21ST INTERNATIONAL CONFERENCE ON ENGINEERING DESIGN (ICED 17) VOL 6: DESIGN INFORMATION AND KNOWLEDGE     355 - 364  2017年

     概要を見る

    The differentiation and the integration of products are the essential procedures for product innovation. To understand the product innovation, the approaches using S-curve theory, which explain the evolution of a technological system, have been effective. However, the S-curve theory has the disadvantage that the validity of the analysis depends greatly on the number of data. In this paper, we propose a novel method for measuring and predicting the technological innovation and the product evolution based on the S-curve and wavelet transform to solve the problem. In order to confirm the effectiveness of the proposed method, we will conduct a case study using patents of air purifiers. Furthermore, we will define and support the differentiation and the integration of the mechanical structure using the proposed method. Our analysis shows that the differentiation and the integration of the mechanical structure occur as a life cycle extension after the main technologies enter the declining phase. Therefore, the incidental technologies should be introduced at the beginning of the declining phase of the main technologies.

  • Optimization of Route Bundling via Differential Evolution with a Convex Representation

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    2017 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR)     727 - 732  2017年

     概要を見る

    Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric. The result of route bundling is a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods, and people. Route bundling is a relevant conceptual construct in a number of path planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of differential evolution using a convex representation. Computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.

  • Bundling n-Stars in Polygonal Maps

    Victor Parque, Tomoyuki Miyashita

    2017 IEEE 29TH INTERNATIONAL CONFERENCE ON TOOLS WITH ARTIFICIAL INTELLIGENCE (ICTAI 2017)     358 - 365  2017年

     概要を見る

    This paper aims at computing minimal-length tree layouts given an n-star graph in a polygonal map. This problem is strongly related to the edge bundling problem, which consists of compounding the edges of an input graph to obtain topologically compact graph layouts being free of clutter and easy to visualize. Computational experiments using a diverse set of polygonal maps and number of edges in the input graph shows the feasibility, efficiency and robustness of our approach.

    DOI

    Scopus

    6
    被引用数
    (Scopus)
  • On the Numerical Representation of Labeled Graphs with Self-loops

    Victor Parque, Tomoyuki Miyashita

    2017 IEEE 29TH INTERNATIONAL CONFERENCE ON TOOLS WITH ARTIFICIAL INTELLIGENCE (ICTAI 2017)     342 - 349  2017年

     概要を見る

    Graphs with self-loops enable to represent a large variety of interactions in natural and artificial systems, allowing not only inter-connectivity among heterogeneous entities but also the self-dependence of entities, e.g. the recursive and autonomous nature of dynamical systems. In this paper we present new bijective constructs which enable the numerical representation of graphs with self loops (or loopy graphs). In particular, we study the case of (1) undirected and (2) directed graphs with n nodes and m edges with self-loops. Our proposed approach realizes the succinct representations by using integer numbers in which rigorous computational experiments show the efficiency of our proposed algorithms: the complexity follows a quasilinear behaviour as a function of the number of edges (which is independent of the number of nodes). Furthermore, as direct consequence of our constructs, we propose list structures having O(m) space complexity, which realize the linear space complexity depending only on the number of edges (the list is independent of n). We believe that our bijective algorithms are useful to tackle problems involving sampling of graphical models, network design as well as process planning by using number theory and sample-based learning.

    DOI

    Scopus

    9
    被引用数
    (Scopus)
  • Low temperature, low pressure, fluxless and plateless Cu-Cu bonding by Cu nano particle transient liquid phase sintering

    Takehiro Yamamoto, M. Khairi Faiz, Tadatomo Suga, Tomoyuki Miyashita, Makoto Yoshida

    2017 IEEE CPMT SYMPOSIUM JAPAN (ICSJ)     139 - 140  2017年

     概要を見る

    In this work, low temperature of 200 degrees C, low pressure of 0.1MPa, fluxless and plateless Cu-Cu bonding in SiC power module is achieved by the transient phase liquid sintering (TLPS) of Cu nano particle and Sn-Bi eutectic powder. In this paper, shear strength at room temperature and 150 degrees C of two compositions of Cu mixed with Sn-Bi is investigated and the factor influencing the shear strength at 150 degrees C is examined by means of differential scanning calorimetry (DSC). In 70 mass% added Sn-Bi (Cu-70SnBi), which was sintered at 200 degrees C, the remelting event at 139 degrees C occurred due to the residual Sn-Bi eutectic phase and assumed to result in the decrease of shear strength at 150 degrees C. On contrary, in 65 mass% added Sn-Bi (Cu-65SnBi), which was sintered at the same conditions, remelting event at 139 degrees C was not observed, and the obtained shear strength at 150 degrees C was almost similar to that of at room temperature (R. T.).

  • Kinematic design and novel mobility analysis of a new 3D pantograph decoupled manipulator

    Magdy, M., Fanni, M., Mohamed, A.M., Miyashita, T.

    Mechanism and Machine Theory   117   253 - 275  2017年

     概要を見る

    A new decoupled 3D translational pantograph manipulator with symmetrical design is proposed. Since its three linear actuators are placed on/near the base, it possesses, to some extent, the advantages of parallel manipulators such as high speed, high stiffness and high accuracy. Since its structure is close to that of serial manipulators, its workspace to size ratio is high, comparable to that of serial manipulators. Moreover, the end-effector of the proposed manipulator has decoupled translation motions in three perpendicular directions with fixed orientation. Also, the manipulator has a linear input/output relationship for the positioning problem. Other possible architectures for the proposed manipulator are presented where the manipulator can have 4, 5 or 6 DOFs. The unconventional interconnected structure of the proposed manipulator does not allow the use of known mobility analysis methods. So, a novel method based on sketching the 3D velocity diagram is developed to derive the full-cycle mobility for general (serial, parallel or interconnected) manipulators. The kinematics, workspace, singularity and stiffness of the proposed manipulator are studied. The results show that the proposed manipulator outperforms the known translational decoupled Pantopteron manipulator regarding the workspace to size ratio. The proposed manipulator can also achieve configuration-independent and near-isotropic behaviors. (C) 2017 Elsevier Ltd. All rights reserved.

    DOI

    Scopus

    13
    被引用数
    (Scopus)
  • Route bundling in polygonal domains using Differential Evolution.

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    Robotics and biomimetics   4 ( 1 ) 22 - 22  2017年  [国際誌]

     概要を見る

    Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods and people. Route bundling is a relevant conceptual construct in a number of path-planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space. In this paper we propose a method for searching optimal route bundles based on a self-adaptive class of Differential Evolution using a convex representation. Rigorous computational experiments in scenarios with and without convex obstacles show the feasibility and efficiency of our approach.

    DOI PubMed

  • Computing path bundles in bipartite networks

    Victor Parque, Satoshi Miura, Tomoyuki Miyashita

    SIMULTECH 2017 - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications     422 - 427  2017年

     概要を見る

    Path bundling, a class of path planning problem, consists of compounding multiple routes to minimize a global distance metric. Naturally, a tree-like structure is obtained as a result wherein roots play the role of coordinating the joint transport of information, goods, and people. In this paper we tackle the path bundling problem in bipartite networks by using gradient-free optimization and a convex representation. Then, by using 7,500 computational experiments in diverse scenarios with and without obstacles, implying 7.5 billion shortest path computations, show the feasibility and efficiency of the mesh adaptive search.

    DOI

    Scopus

    7
    被引用数
    (Scopus)
  • A study on the design of deployable cable-panel structure

    Seino, Koujirou, Parque, Victor, Miyashita, Tomoyuki

    4th AIAA Spacecraft Structures Conference, 2017    2017年01月

     概要を見る

    © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.Recently, large space structures are being developed. From the point of view of payload capacity and transportation efficiency, large space structures are required to be lightweight and highly efficient in their folding. Cable-panel structures are also expected to satisfy the above conditions mainly due to the omission of frames that hold panels structures. However, the deployment of three-dimensional membranes is difficult to control accurately because of the small stiffness normal to membranes. In this study, we discuss the wire location design in the wire-based deployment of three-dimensional plates. And, through experiments, we evaluate 27 design locations of wires for deployment and compare the deployed shape between the designed dimensions and the measured surface. Then, we confirmed the increment of 2.2 percent in height dimension. Furthermore, we confirmed that our proposed deployment method is feasible, and obtained several design criteria for wire design: First, it is necessary to consider an order of deployment to deploy from the outside surface. Second, the design needs to intersect folds at right angles. Third, extending the length of designs without changing the route shape of the designs leads to higher accuracy of the deployment shape without causing a large increase in the required forces. The multi particle system model was applied to predict the deformation of the structure reasonablly.

  • Expantion and measurement of spiral foldedmembrane by small satellite

    Tomoyuki Miyashita, Hiroshi Yamakawa, Nobuhisa Katsumata, Michihiro C. Natori

    AIAA SciTech Forum - 55th AIAA Aerospace Sciences Meeting    2017年

     概要を見る

    The small sattelites become popular due to the development of electrical parts and frequent launch opportunities. In this sudy, we will introduce one of our missions on orbit by 1U size small satellite Waseda-SAT3. This satellite have two main missions. One is thermal active control by soft matter and the other is measurement of shpe of membrane expanded from spiral folded shape supported by hinge-less mast. The membrane installed in this satellite has parabolic surface and painted innerside to measure shape by lattice projection method and equips solor cell outside to show effectiveness of spiral folding theory considering thickness effect of the membrane.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • On Succinct Representation of Directed Graphs

    Victor Parque, Tomoyuki Miyashita

    2017 IEEE INTERNATIONAL CONFERENCE ON BIG DATA AND SMART COMPUTING (BIGCOMP)     199 - 205  2017年  [査読有り]

     概要を見る

    Directed graphs encode meaningful dependencies among objects ubiquitously. This paper introduces new and simple representations for labeled directed graphs with the properties of being succinct (space is information-theoretically optimal); in which we avoid exploiting a-priori knowledge on digraph regularity such as triangularity, separability, planarity, symmetry and sparsity. Our results have direct implications to model directed graphs by using single integer numbers effectively, which is significant to enable canonical (generation of graph instances is unique) and efficient (coding and decoding take polynomial time) encodings for learning and optimization algorithms. To the best of our knowledge, the proposed representations are the first known in the literature.

    DOI

    Scopus

    20
    被引用数
    (Scopus)
  • Brain Wave Measurement while Touching Task of a Virtual Arm for Intuitive Robotic Surgery

    Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, Kazuya Kawamura

    2016 WORLD AUTOMATION CONGRESS (WAC)    2016年

     概要を見る

    This paper presents a novel evaluation method for designing an intuitive surgical robot by measuring a user's brain activity. Conventionally, surgical robots have been designed based on their mechanical performance. However, an improvement in a robot's mechanical performance does not necessarily represent the embodiment that the user feels. In this paper, we evaluate intuitive operability based on the user's brain activation. Previously, we used functional near-infrared spectroscopictopography (fNIRS) brain imaging; however, it is better to use a brain measurement technique possessing a high time resolution, as brain activity is has a higher time resolution than fNIRS. The objective was to measure changes in brain activity as a function of a change in the slave arm positioning. In the experiment, the brain activity of four participants was measured using fNIRS while they used a hand controller to move the virtual arm of a surgical simulator. The experiment was carried out with the virtual arm in two positions: one easy to control and the other difficult. The spectrum of the brain activity increased at the easy position more than at the difficult position. We conclude that the brain activity changed as the user perceived that the virtual arm belonged to their body.

  • 脳活動計測を用いたマスタ・スレーブの先端姿勢誤差に関する検討

    三浦 智, 川村 和也, 小林 洋, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集   2016   1A1 - 03a5  2016年

     概要を見る

    <p>This paper presents a novel evaluation method for an intuitive operability of master-slave surgical robot. Surgical robot is controlled to match the posture of the arm tip between master-slave, however, it's impossible to match the posture because strict sensing is difficult and the error accumulates during manipulation. The objective is to validate the change of the brain activation against the change of error of posture in the arm tip. In experiment, participants controlled the virtual master-slave simulation. As a result, the brain activity decreased when the error of posture in the arm tip increased. The paper concluded that the 30° would be the acceptable error because when the error was smaller than 30° , the brain activated same as he relaxed.</p>

    DOI CiNii

  • Succinct Representation of Directed Graphs

    Parque Victor, Miyashita Tomoyuki

    精密工学会学術講演会講演論文集   2016 ( 0 ) 577 - 578  2016年

     概要を見る

    Directed graphs are useful to encode oriented dependencies among entities. We propose a new method that enables the representation of directed graphs via numbers; enabling the succinct, canonical and efficient encoding schemes. We present examples in graph encoding and its applicability to real world networks.

    DOI CiNii

  • Membrane space structure with sterical support of booms and cables

    Torisaka, Ayako, Torisaka, Ayako, Satoh, Yoshitaka, Satoh, Yoshitaka, Akita, Takeshi, Akita, Takeshi, Natori, M. C, Natori, M. C, Yamakawa, Hiroshi, Yamakawa, Hiroshi, Miyashita, Tomoyuki, Miyashita, Tomoyuki

    3rd AIAA Spacecraft Structures Conference    2016年01月

     概要を見る

    © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.Authors suggested a new structure combined with lightweight membranes and booms using convex tape considering its application as a space structure.. The larger membrane is preferred to get a solar effect from sails and power generation needs. In the past researches, we assumed a square shaped flat structure and studied the use of cables, positions of cables connecting between boom and membrane. In this paper, an additional studies about a steric membrane structure with booms and cables has been carried out to confirm a structural properties. We manufactured experiment model for verifying these properties, and also we confirmed about the same kinds of properties of hexagonal structure.

  • On k-Subset Sum using Enumerative Encoding

    Victor Parque, Tomoyuki Miyashita

    2016 IEEE INTERNATIONAL SYMPOSIUM ON SIGNAL PROCESSING AND INFORMATION TECHNOLOGY (ISSPIT)     81 - 86  2016年  [査読有り]

     概要を見る

    Being a significant construct in a wide range of combinatorial problems, the k-subset sum problem (k-SSP) computes k-element subsets, out of an n-element set, satisfying a user-defined aggregation value. In this paper, we formulate the k-subset sum problem as a search (optimization) problem over the space of integers associated with combination elements. And by using rigorous computational experiments using the search space over more than 10(14) integer numbers, we show that our approach is effective and efficient: it is feasible to find any combination with a user-defined sum within 10(4) function evaluations by using a gradient-free optimization algorithm. Our scheme opens the door to further advance the understanding of combinatorial problems by improved/tailored gradient-free optimization algorithms based on enumerative encoding. Also, our approach realizes the practical building block for combinatorial problems in planning and operations research using k-SSP concepts.

    DOI

    Scopus

    9
    被引用数
    (Scopus)
  • Optimization of ZigBee Networks using Bundled Routes

    Parque Victor, Seleem Ibrahim A, Raessa Mohamed S, Miyashita Tomoyuki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 223 - 224  2015年12月

     概要を見る

    Designing optimal ZigBee networks is key for efficient low-cost communication of multi-agent sensors and mechatronics systems. In this paper, we report a novel approach to optimize ZigBee networks using the optimization of bundled routes. To the best of our knowledge, this is the first approach reported in the literature to find optimal ZigBee network topologies.

    DOI CiNii

  • Optimum Design of Wind Turbine Drivetrain

    Naung Shine Win, Miyashita Tomoyuki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 152 - 153  2015年12月

     概要を見る

    This article aims to propose a methodology to produce an optimum design of wind turbine drivetrain with the main objectives of minimum vibration, minimum weight and maximum efficiency.

    DOI CiNii

  • Affordable Sensor Fusion for Wireless Control of External Devices

    Raessa Mohamed S, Parque Victor, Miyashita Tomoyuki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 86 - 87  2015年12月

     概要を見る

    Developing affordable and robust human-machine interfaces is key to improve the quality of life of handicapped and amputee users in developing countries. While most of the available technologies are robust, the cost is inaccessible to large portions of the population with low-income. In this paper, we propose a compact, robust and cost-effective interface for arm pose sensing and control of external devices based on the low-cost accelerometer, gyroscope and Xbee technologies. Experiments using a prototype showed the promising results to detect and classify the robust poses.

    DOI CiNii

  • 2211 市場データを用いた車両設計指標の構築と最適化設計に関する研究(OS1-2 製品設計開発のためのモデリング・方法論・マネジメントII,OS1 製品設計開発のためのモデリング・方法論・マネジメント)

    保延 和博, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2015 ( 25 ) "2211 - 1"-"2211-9"  2015年09月

     概要を見る

    In this research, we proposed a criteria development process treating about 23000 vehicle data which were published on the market from 1982 to 2013 years by Data Envelopment Analysis. DEA is the method for obtaining an evaluation with multidimensional index. However, it is necessary to determine the evaluation model. So we constructed it by Interpretive Structural Modeling. ISM builds a hierarchical structure from paired comparison, and clarifies the relationship between items. As a result, we derived 32 evaluation models from ISM and decided the best model based on the standard deviation to be maximized. This makes it possible to avoid the arbitrariness of the user. In the best model, vehicle data which have lower fuel efficiency obtain higher comprehensive evaluation value. Otherwise, in displacement and price, minimum comprehensive evaluation value is in the middle, vehicle data which has lower and higher evaluation item value obtain higher comprehensive evaluation value. In addition, we optimized the value of each evaluation item for vehicle type and obtained proposition for design for each type, which proposed smaller displacement and shape. From the above, we confirm that DEA is useful for evaluating products and ISM is efficiency for constructing the evaluation model of DEA.

    CiNii

  • Automated palpation for breast tissue discrimination based on viscoelastic biomechanical properties.

    Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, G Masakatsu Fujie

    International journal of computer assisted radiology and surgery   10 ( 5 ) 593 - 601  2015年05月  [国際誌]

     概要を見る

    PURPOSE: Accurate, noninvasive methods are sought for breast tumor detection and diagnosis. In particular, a need for noninvasive techniques that measure both the nonlinear elastic and viscoelastic properties of breast tissue has been identified. For diagnostic purposes, it is important to select a nonlinear viscoelastic model with a small number of parameters that highly correlate with histological structure. However, the combination of conventional viscoelastic models with nonlinear elastic models requires a large number of parameters. A nonlinear viscoelastic model of breast tissue based on a simple equation with few parameters was developed and tested. METHODS: The nonlinear viscoelastic properties of soft tissues in porcine breast were measured experimentally using fresh ex vivo samples. Robotic palpation was used for measurements employed in a finite element model. These measurements were used to calculate nonlinear viscoelastic parameters for fat, fibroglandular breast parenchyma and muscle. The ability of these parameters to distinguish the tissue types was evaluated in a two-step statistical analysis that included Holm's pairwise [Formula: see text] test. The discrimination error rate of a set of parameters was evaluated by the Mahalanobis distance. RESULTS: Ex vivo testing in porcine breast revealed significant differences in the nonlinear viscoelastic parameters among combinations of three tissue types. The discrimination error rate was low among all tested combinations of three tissue types. CONCLUSION: Although tissue discrimination was not achieved using only a single nonlinear viscoelastic parameter, a set of four nonlinear viscoelastic parameters were able to reliably and accurately discriminate fat, breast fibroglandular tissue and muscle.

    DOI PubMed

    Scopus

    2
    被引用数
    (Scopus)
  • Learning the Optimal Product Design Through History

    Victor Parque, Tomoyuki Miyashita

    NEURAL INFORMATION PROCESSING, PT I   9489   382 - 389  2015年  [査読有り]

     概要を見る

    The search for novel and high-performing product designs is a ubiquitous problem in science and engineering: aided by advances in optimization methods the conventional approaches usually optimize a (multi) objective function using simulations followed by experiments. However, in some scenarios such as vehicle layout design, simulations and experiments are restrictive, inaccurate and expensive. In this paper, we propose an alternative approach to search for novel and high-performing product designs by optimizing not only a proposed novelty metric, but also a performance function learned from historical data. Computational experiments using more than twenty thousand vehicle models over the last thirty years shows the usefulness and promising results for a wider set of design engineering problems.

    DOI

    Scopus

    5
    被引用数
    (Scopus)
  • Method for Estimating the Temperature Distribution Associated with the Vessel Cooling Effect in Radio Frequency Ablation

    Xiaowei Lu, Hayato Kikuchi, Kazumasa Hirooka, Yosuke Isobe, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2015-November   4836 - 4839  2015年  [査読有り]  [国際誌]

     概要を見る

    Recently, radio frequency ablation (RFA) has become one of the most popular thermal treatments for liver cancer. RFA is minimally invasive and effective in inducing tumor coagulation, however, because use the procedure depends on the experience of the physician, consistent accuracy cannot be guaranteed. In particular, when the tumor is close to a large vessel, a suboptimal ablation margin can result in tumor recurrence. To improve the accuracy of RFA treatment, we have developed an RFA supporting system, which was constructed by using finite element method and operated by means of a model-based control method. In this study, we focused on the cooling effect of flow volume inside a large vessel during RFA, and analyzed heat transfer between the large vessel and liver tissue using a model. We derived the heat transfer parameter (the Nusselt number (Nu)) between the large vessel and liver tissue during RFA by using a finite-element method (FEM). When the Nu for FEM analysis had a value of 3, the FEM analysis model was representative of the actual ablation objective, and the maximum error between FEM analysis and the measurement results was within 2.0[degrees C]. Thus, it was suggested that the Nu was effective for FEM analysis regarding heat transfer between a large vessel and tissue. However, according to the differences between the results of FEM analysis and measurements concerning the three livers, the heat transfer volume was determined by the Nu, which is different individually in common with other thermal properties. In conclusion, it is necessary to consider the individual differences in the heat transfer volume parameter for FEM analysis.

    DOI PubMed

    Scopus

    3
    被引用数
    (Scopus)
  • グラフィックスハードウエアを用いた高速位相最適化に関する研究

    亀崎 浩輝, 宮下 朋之

    計算力学講演会講演論文集   2014 ( 27 ) 232 - 234  2014年11月

    CiNii

  • 衝突時における荷重伝達経路を活用した車両設計に関する研究

    森崎 陽平, 宮下 朋之

    計算力学講演会講演論文集   2014 ( 27 ) 191 - 193  2014年11月

    CiNii

  • J2410105 ラジオ波焼灼療法における電磁波周波数特性に基づく発熱量のモデル化([J241-01]医工学テクノロジーによる医療福祉機器開発(1))

    山崎 望, 小林 洋, 菊池 勇人, 呂 筱薇, 草鹿 仁, 宮下 朋之, 藤江 正克

    年次大会 : Mechanical Engineering Congress, Japan   2014   "J2410105 - 1"-"J2410105-5"  2014年09月

     概要を見る

    Radio Frequency Ablation (RFA) is one kinds of hyperthermia treatment for cancer. Advantages of RFA are mainly low impact operations and shorter hospital stay. Disadvantage of RFA is difficult to get coagulation information for operator. Therefore, it needs to control ablation energy precisely. Thus, we have been proposed a method control of ablation energy. A feature of RFA, it uses electromagnetic-wave for ablation. RFA is related as not only thermal physics but also electrical physics. And, Heat generation from RF-electrode depends on frequency of electromagnetic-wave frequency. Therefore, in this study, we modeled heat generation based on electric impedance frequency characteristic during RFA. Firstly, it measured electric impedance frequency characteristic of pig liver samples. Secondly, it measured temperature distribution of the samples during RFA. Finally, it modeled electric impedance frequency characteristic of pig liver samples based on equivalent circuit model which was considered about fractional calculus. And, we evaluated a value of electrical impedance. From results, Model value of heat generation was matched with actual measurement value by using a coefficient of electrical impedance.

    CiNii

  • The topology optimization of electronic parts mounted on micro satellite

    Nakamura, H, Miyashita, T

    Engineering Optimization IV - Proceedings of the 4th International Conference on Engineering Optimization, ENGOPT 2014     379 - 384  2014年01月

     概要を見る

    © 2015 Taylor & Francis Group, London. Printed Circuit Boards (PCBs) are important for operation of actuators to work machines and required upgrading and downsizing. To develop upgrading PCBs needs design based on evaluation criteria. In this study, we verified the availability of GA in pattern design of PCBs by use of the electric power board on WASEDA-SAT2 (small satellite) as a model. As a result, the smaller board by 35% was obtained than the board before optimization.

  • Modeling of Lung's Electrical Impedance using Fractional Calculus for Analysis of heat generation during RF-Ablation

    Nozomu Yamazaki, Yo Kobayashi, Hayato Kikuchi, Yosuke Isobe, XiaoWei Lu, Tomoyuki Miyashita, Masakatsu G. Fujie

    2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2014   5323 - 5328  2014年  [査読有り]  [国際誌]

     概要を見る

    Recently, Radio Frequency Ablation (RFA) is becoming a popular therapy for various cancers such as liver, breast, or lung cancer. RFA is one kinds of thermal therapy. However, it has been often reported about excessive ablation or non-ablation due to difficult control of ablation energy. In order to solve these difficulties, we have been proposed robotized RF-ablation system for precise cancer treatment. We have been tried to control heat energy by control of electromagnetic-wave frequency.
    In this paper, we reported about relation among electrical impedance of lung, lung's internal air volumes, and heat energy by use of electromagnetic- wave. In case of RFA for lung cancer, heat energy depends on electrical impedance and lung's internal air volumes. Electrical impedance has the dependence of electromagnetic-wave frequency and the dependence of lung's internal air volumes. Therefore, firstly we considered about fractional calculus model between lung's internal air volumes and electrical impedance. Secondly, we measured electric impedance frequency characteristic of lung with change of lung's internal air volumes. The measured and modeled results showed that use of fractional calculus realized high accurate model for electrical impedance of lung. And, from the results of numerical analysis of heat energy, it is supposed that control of electromagnetic-wave frequency has a small effectiveness for lung tissue ablation even if lung includes abundant air.

    DOI PubMed

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    1
    被引用数
    (Scopus)
  • Evaluation of industrial machine design improvement ideas using characteristic-based hierarchical optimisation strategies

    Masataka Yoshimura, Masaki Hasuike, Tomoyuki Miyashita, Hiroshi Yamakawa

    JOURNAL OF ENGINEERING DESIGN   24 ( 11 ) 794 - 813  2013年11月

     概要を見る

    Design optimisation technologies are a practical requirement when aiming to obtain optimal product design variable values from an initially given feasible design space, but such technologies also can contribute to the generation of more effective product design alternatives, namely, product design innovations. This paper proposes an effective evaluation method that enables improvement of product design ideas, using characteristic-based hierarchical optimisation strategies applicable to industrial machine products. After related characteristics are decomposed into simpler characteristics, or simpler characteristics are extracted from higher level characteristics, new optimisation strategies are constructed based on clarification of the relationships among all the characteristics. Innovative processes that lead to product design improvements are analysed in detail by examining optimum solutions for various design improvement ideas, using displays of Pareto optimum solution lines or surfaces. The proposed system design optimisation method that is based on evaluations of evolutional Pareto optimum solutions is presented and exemplified here using an articulated robot product design, and applied at the conceptual product design stage.

    DOI

    Scopus

    4
    被引用数
    (Scopus)
  • 2803 グラフィックスハードウェアを用いた焼結金属の超高速3次元非定常熱伝導解析法に関する研究

    亀崎 浩輝, 宮下 朋之

    計算力学講演会講演論文集   2013 ( 26 ) "2803 - 1"-"2803-3"  2013年11月

    CiNii

  • 408 鉄道車両の衝突における乗客挙動の推定に関する研究

    高橋 宗平, 田中 佑典, 宮下 朋之

    計算力学講演会講演論文集   2013 ( 26 ) "408 - 1"-"408-3"  2013年11月

    CiNii

  • 3308 相似則及び最適化手法を活用した縮小衝突用ダミーモデルの設計に関する研究

    高橋 宗平, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2013 ( 23 ) "3308 - 1"-"3308-10"  2013年10月

     概要を見る

    Scaled dummy used in the experiment on the estimation of passenger's behavior under a train collision is designed considering a similarity rule. Several tests are applied to evaluate dummy biofidelity according to ISO technicalreport ISO/TR9790. Overall biofidelity of the dummy is 4.62 points out of 10. And it is the third-highest rating "Fair Biofidelity" out of 5 ratings indicating the degree of biofidelity. Next, Finite element is applied conducted to improve thoraxbiofidelity dummy using optimization method, suchas breadth of rib, thickness of soft tissue and Elastic Modulus of soft tissue because response on thoraximpact test is particularly bad. Optimized dummy is developed and thoraximpact test is conducted again. The maximum value of impactor force of optimized dummy is 28.1% better than that of unoptimized one.

    CiNii

  • 3307 データ包絡分析法を用いた概念設計支援に関する研究

    高橋 優文, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2013 ( 23 ) "3307 - 1"-"3307-10"  2013年10月

     概要を見る

    In the stage of a conceptual design, designers often stimulate and influence each other, and they must conceive a completely new idea and the outstanding idea. However, as a design problem, it is dependent on a designer's experience and intuition. Furthermore, the suggestion of an idea is sometimes plentifully performed by two or more persons, sharing of mutual knowledge or information for a smooth communication. Therefore, it is necessary to establish the reasonable design method to derive excellent idea, in this study, the new design approach which combined two design methods of an axiomatic design theory and TRIZ is proposed, the validity of a design method is confirmed. The axiomatic design theory clarifies the process in a design TRIZ offers the solution of a design which a designer didn't know. By combining these advantages, we will proposed a new method. The experiment using the proposed methods, technique nothing, TRIZ, the axiomatic design theory, and the TRIZ+ axiomatic design theory. And, it is verified what kind of difference the number of ideas or quality. As a result, TRIZ was able to conceive many ideas, but quality is inferior to other design methods. The axiomatic design theory could conceive the high quality idea, but a number of ideas are inferior to other design methods. Although the TRIZ+ axiomatic design theory had few ideas, the highest quality idea was able to be conceived.

    CiNii

  • 1112 コンプライアントメカニズムによる衝撃吸収構造の創成に関する研究

    中村 優太, 服部 悠太, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2013 ( 23 ) "1112 - 1"-"1112-10"  2013年10月

     概要を見る

    In this study, we try to design a shock absorbing structure using the compliant mechanism. To design the shock absorbing structure, it is necessary to consider the plastic deformation. We use the elastic-plastic body to design the compliant mechanism. First, we do topology optimization whose object function is to design the shock absorbing structure and the compliant mechanism. In this topology optimization, we use Evolutionary Structual Optimization. And we investigate the shape and the characteristic while the parameters fluctuation. Secondly, the impact test is done to confirm whether it is functioning as a shock absorbing structure. We test two models and compare the behavior of each model.

    CiNii

  • J164034 ラジオ波焼灼療法における熱伝達率の大血管内流量依存性の検討([J164-03]医療・健康・福祉のためのセンシングおよびロボティクス(3))

    菊池 勇人, 磯部 洋佑, 呂 筱薇, 山崎 望大, 渡辺 広樹, 小林 洋, 宮下 朋之, 藤江 正克

    年次大会 : Mechanical Engineering Congress, Japan   2013   "J164034 - 1"-"J164034-4"  2013年09月

     概要を見る

    Radio frequency ablation (RFA) is one of the minimally invasive and useful treatments for liver cancer. While RFA is popular approach for liver cancer in Japan, RFA has several disadvantages such as ablation temperature is excess or insufficient. Because flow in great vessels absorbs the heat from electrode needle in liver RFA, it is difficult for surgeon to estimate the temperature distribution. In this study, we used the experimental system with porcine great vessels and porcine liver to investigate about the relationship between heat loss and flow volume in great vessels. We calculated the heat transfer coefficient based on Newton's law of cooling under each flow volume in each great vessel, and figured out the relationship between heat transfer coefficient and flow volume. As a result, heat transfer coefficient depends on flow volume in great vessels. And the relationship between heat transfer coefficient and flow volume is linearity. These results suggested that the relationship between flow volume in blood vessel and heat transfer coefficient is linearity, and flow volume in blood vessel causes heat loss in RFA.

    CiNii

  • RFAにおけるFEMを併用したモデルベースト温度制御の基礎的検討

    磯部 洋佑, 渡辺 広樹, 呂 筱薇, 山崎 望, 小林 洋, 宮下 朋之, 橋爪 誠, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   15 ( 2 ) 136 - 137  2013年08月

    CiNii

  • Product design optimization method considering the integrated satisfaction level

    Masataka Yoshimura, Masaki Sato, Tomoyuki Miyashita, Hiroshi Yamakawa

    Control and Intelligent Systems   41 ( 3 ) 117 - 126  2013年

     概要を見る

    We propose a product design optimization method that maximizes the integrated satisfaction level for evaluative factors. Product designs include many evaluative factors that have complex interrelationships. To cope with such circumstances, we construct strategies and a practical method to obtain optimum design solutions. First, the evaluative items for the product are listed and each item is decomposed into evaluative factors. Next, to express designers' or potential customers' levels of satisfaction for the characteristic values of each evaluative factor, we define satisfaction functions that incorporate the relationship between characteristic values and satisfaction levels. Weighting coefficients for the evaluative factors are then obtained by the pair comparison method. Finally, an integrated satisfaction level is formulated by summing the characteristic values with their weighting coefficients over the entire set of evaluative factors. The integrated satisfaction level of the objective function is maximized, and optimum design solutions with maximum satisfaction levels are then obtained. If necessary, these solutions can be modified and improved by re-examining and adjusting the satisfaction functions and weighting coefficients. Furthermore, the proposed method can be used to find schemes that improve the integrated satisfaction level. The utility of the proposed method is demonstrated using a passenger train coach design.

    DOI

    Scopus

  • 肝がんラジオ波焼灼療法における組織凝固領域提示システムの開発(肝臓組織の粘弾性の温度依存性のモデル化)

    呂 筱薇, 築根 まり子, 渡辺 広樹, 小林 洋, 宮下 朋之, 藤江 正克

    日本機械学会論文集 C編   79 ( 807 ) 4381 - 4388  2013年

     概要を見る

    Recently radio frequency ablation (RFA) has been increasingly important in treating liver cancers. RFA is ordinarily conducted using elastographic imaging to monitor the ablation procedure and the temperature of the electrode needle is displayed on the radiofrequency generator. However, the coagulation boundary of liver tissue in RFA is unclear and unconfident. This can lead to both excessive and insufficient RFA thereby diminishing the advantages of the procedure. In the present study, we developed a method for determining the coagulation boundary of liver tissue in liver RFA. To investigate this boundary we used the mechanical characteristics of biochemical components as an indicator of coagulation to produce a relational model for viscoelasticity and temperature. This paper presents the data acquisition procedures for the viscoelasticity characteristics and the results of relationship model of viscoelasticity's temperature dependence. We employed a rheometer to measure the viscoelastic characteristics of porcine liver tissue. To determine relationship model between temperature and viscoelasticity, we used a least-square method and the minimum root mean square error was calculated to optimize the model functional relations. The functional relation between temperature and viscoelasticity was divided into linear and non-linear in different temperature regions. The boundary between linear and non-linear functional relation was 58.0°C.

    DOI CiNii

    Scopus

  • Real-time temperature control system based on the finite element method for liver radiofrequency ablation: Effect of the time interval on control

    Yosuke Isobe, Hiroki Watanabe, Nozomu Yamazaki, Xiaowei Lu, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013   392 - 396  2013年  [国際誌]

     概要を見る

    Radiofrequency (RF) ablation is increasingly being used to treat liver cancer because it is minimally invasive. However, it is difficult for operators to control the size of the coagulation zones precisely, because no method has been established to form an adequate and suitable ablation area. To overcome this limitation, we propose a new system that can control the coagulation zone size. The system operates as follows: 1) the liver temperature is estimated using a temperature-distribution simulator to reduce invasiveness
    2) the output power of the RF generator is controlled automatically according to the liver temperature. To use this system in real time, both the time taken to calculate the temperature in the simulation and the control accuracy are important. We therefore investigated the relationship between the time interval required to change the output voltage and temperature control stability in RF ablation. The results revealed that the proposed method can control the temperature at a point away from the electrode needle to obtain the desired ablation size. It was also shown to be necessary to reduce the time interval when small tumors are cauterized to avoid excessive treatment. In contrast, such high frequency feedback control is not required when large tumors are cauterized. © 2013 IEEE.

    DOI PubMed

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    6
    被引用数
    (Scopus)
  • The relation between temperature distribution for lung RFA and electromagnetic wave frequency dependence of electrical conductivity with changing a lung's internal air volumes

    Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2013   386 - 391  2013年  [査読有り]  [国際誌]

     概要を見る

    Radio frequency ablation (RFA) for lung cancer has increasingly been used over the past few years because it is a minimally invasive treatment. As a feature of RFA for lung cancer, lung contains air during operation. Air is low thermal and electrical conductivity. Therefore, RFA for this cancer has the advantage that only the cancer is coagulated, and it is difficult for operators to control the precise formation of coagulation lesion. In order to overcome this limitation, we previously proposed a model-based robotic ablation system using finite element method. Creating an accurate thermo physical model and constructing thermal control method were a challenging problem because the thermal properties of the organ are complex. In this study, we measured electromagnetic wave frequency dependence of lung's electrical conductivity that was based on lung's internal air volumes dependence with in vitro experiment. In addition, we validated the electromagnetic wave frequency dependence of lung's electrical conductivity using temperature distribution simulator. From the results of this study, it is confirmed that the electromagnetic wave frequency dependence of lung's electrical conductivity effects on heat generation of RFA.

    DOI PubMed

    Scopus

    8
    被引用数
    (Scopus)
  • Boundary condition generating large strain on breast tumor for nonlinear elasticity estimation

    Mariko Tsukune, Maya Hatano, Yo Kobayashi, Tomoyuki Miyashita, M. G. Fujie

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013   4863 - 4866  2013年  [国際誌]

     概要を見る

    We describe a robotic palpation system that determines whether a breast tumor is benign or malignant by measuring its nonlinear elasticity. Two indenters compress the breast from different directions to generate sufficient strain on the inner tumor, which simply represents clinical dynamic testing. The nonlinear elasticity of the inner tumor is estimated by correcting the reaction force data of the surrounding soft tissue. Here, we present the basic concept of our study and simulation results considering geometric conditions of the indenters using a finite element breast model. Indenters with variable width are applied to the breast at several contact positions in a simulation for comparison. Our results indicate that when the spring stiffness between the contact position of one indenter and the center of the tumor equals the spring stiffness between the contact position of the other indenter and the center of the tumor, a larger contact area (i.e., larger spring stiffness) provides larger strain acting on the inner tumor. © 2013 IEEE.

    DOI PubMed

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    1
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    (Scopus)
  • Derivation of the relationship between the rate of temperature rise and viscoelasticity for constructing a coagulation model for liver radio frequency ablation

    Xiaowei Lu, Hiraki Watanabe, Yosuke Isobe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2013   382 - 385  2013年  [国際誌]

     概要を見る

    Radio frequency ablation (RFA) is usually conducted using ultrasound (US) imaging to monitor the insertion procedure and the coagulation extent of liver tissue which is contiguous to the RFA electrode. However, when RFA surgery is started, the US image becomes unclear because of water vapor. This disadvantage of RFA can lead to excessive and insufficient RFA thereby diminishing the advantages of the procedure. In the present study, we proposed a simulation system which shows the progress status of coagulation for liver RFA. To derive the coagulation characteristics in liver RFA, we used the viscoelasticity of liver tissue as the coagulation indicator to investigate coagulation development for liver RFA. This paper shows the acquisition procedures for analyzing the relationship between the rate of temperature and viscoelasticity. We measured the complex modulus of porcine liver tissue under different rate of temperature in RFA by controlling the output power. We showed that the viscoelasticity of liver tissue depended on temperature previous temperature increase above 60°C. This result indicates that in RFA, controlling the output power is important to completely coagulate the tumor. © 2013 IEEE.

    DOI PubMed

    Scopus

  • Development of a coagulation area presenting system in liver radio frequency ablation (Modeling for temperature-dependence of viscoelasticity in liver tissue)

    Xiaowei Lu, Mariko Tsukune, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 ( 807 ) 4381 - 4388  2013年

     概要を見る

    Recently radio frequency ablation (RFA) has been increasingly important in treating liver cancers. RFA is ordinarily conducted using elastographic imaging to monitor the ablation procedure and the temperature of the electrode needle is displayed on the radiofrequency generator. However, the coagulation boundary of liver tissue in RFA is unclear and unconfident. This can lead to both excessive and insufficient RFA thereby diminishing the advantages of the procedure. In the present study, we developed a method for determining the coagulation boundary of liver tissue in liver RFA. To investigate this boundary we used the mechanical characteristics of biochemical components as an indicator of coagulation to produce a relational model for viscoelasticity and temperature. This paper presents the data acquisition procedures for the viscoelasticity characteristics and the results of relationship model of viscoelasticity's temperature dependence. We employed a rheometer to measure the viscoelastic characteristics of porcine liver tissue. To determine relationship model between temperature and viscoelasticity, we used a least-square method and the minimum root mean square error was calculated to optimize the model functional relations. The functional relation between temperature and viscoelasticity was divided into linear and non-linear in different temperature regions. The boundary between linear and non-linear functional relation was 58.0°C. © 2013 The Japan Society of Mechanical Engineers.

    DOI

    Scopus

  • 2208 コンプライアントメカニズムによる衝撃吸収構造の創成に関する研究(OS22-2.計算力学と最適化(2),OS・一般セッション講演)

    服部 悠太, 宮下 朋之

    計算力学講演会講演論文集   2012 ( 25 ) 154 - 156  2012年10月

    CiNii

  • 肝がんラジオ波焼灼療法における組織凝固指標の検討

    呂 筱薇, 築根 まり子, 磯部 洋佑, 山崎 望, 渡辺 広樹, 小林 洋, 柿本 隆志, 千葉 敏雄, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 422 - 423  2012年10月

    CiNii

  • 有限要素解析と超音波画像の比較に基づく組織弾性同定法

    星 雄陽, 築根 まり子, 小林 洋, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 282 - 283  2012年10月

    CiNii

  • 熱伝導率と電気伝導率の空気量依存性を反映した肺のRFA用温度分布シミュレーションの構築

    山崎 望, 渡辺 広樹, 磯部 洋佑, 呂 筱薇, 小林 洋, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 278 - 279  2012年10月

    CiNii

  • 非線形弾性に基づく乳がん診断支援システムの開発 : ロボットマニピュレータによる触診時の乳房変形解析

    築根 まり子, 小林 洋, 宮下 朋之, 白石 泰之, 山家 智之, 橋爪 誠, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 206 - 207  2012年10月

    CiNii

  • J165034 乳がん診断支援における弾性率の非線形性を計測する触診ロボットの開発 : 2本の圧子を用いた圧縮方法の有限要素解析による検討

    築根 まり子, 小林 洋, 宮下 朋之, 白石 泰之, 山家 智之, 橋爪 誠, 藤江 正克

    年次大会 : Mechanical Engineering Congress, Japan   2012   "J165034 - 1"-"J165034-3"  2012年09月

     概要を見る

    A disadvantage of nonlinear elastography techniques for breast tumor diagnosis is that the tumor does not strain sufficiently to observe nonlinear elasticity We propose a robotic palpation system with two indenters to evaluate the nonlinear elasticity properties of tissues The objective of the present study was to consider a compression method in terms of the position of indenters and the section area of indenters to generate large strain in tumors by finite element analysis As a result, it was found that the following compression conditions made tumor deformable First condition is that the default position of indenter is located near the tumor Second condition is that the section area of indenters is enlarged if the default position of indenter is located near the tumor, and the section area of indenters is made smaller if the default position of indenter is distance from the tumor

    CiNii

  • 3407 鉄道車両の衝突時における着座方式と乗客挙動の実験(GS-2 一般セッションII)

    松田 淳, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2012 ( 22 ) "3407 - 1"-"3407-10"  2012年09月

     概要を見る

    When major train collisions occur, train structure deforms to reduce the impact effect. However, some passengers are injured in spite of the shock absorption of the structure. Therefore, it is necessary to design train structure to reduce injuries of passengers when accidents occur. In this study, we proposed the design improvements strategies to reduce injuries of the passengers caused by train collisions. We experimented with scale-down models of passengers and vehicles. To evaluate injury levels, we used HIC36 as a standard for head injuries. As a result of these experiments, HIC36 is influenced by seating position and type. We proposed three train structures to reduce injuries of passengers. These are that of using convertible seats, seating passengers with their backs to the front of the train and seating passengers in the rear of the vehicle.

    CiNii

  • 2309 コンプライアントメカニズムを用いた衝撃吸収構造の創成に関する研究(OS10 創発性と多様性の設計)

    岡田 健太, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2012 ( 22 ) "2309 - 1"-"2309-10"  2012年09月

     概要を見る

    In this study, to design a shock absorbing structure using the compliant mechanism. To be applied to the shock absorbing structure is necessary to consider the plastic deformation. However, in previous studies such research has not been done. In the present study to design a compliant mechanism targets the elasto-plastic body. And this mechanism is applied to impact-absorbing structure. First we use topology optimization whose object function is to design shock absorbing structure and compliant mechanism. And we can design model which has compliant mechanism and shock absorbing function. Secondly impact test is performed using this mechanism. We create a model for comparison for this test. We compare the behavior of each model and discuss about it.

    CiNii

  • 2208 人工衛星の機器配置を考慮した軽量化設計に関する研究(OS6-2 設計と最適化II)

    水町 星哉, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2012 ( 22 ) "2208 - 1"-"2208-10"  2012年09月

     概要を見る

    Recently the development of the nano satellite becomes active. In general, nano satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is reasonable, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. We have to design of satellite structure considering the severe mechanical environment of launching. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In addition, harnesses are also important component when we design satellites. In this paper, we will propose the design of the satellite whose dimension is 400 millimeters cube. The satellite supposed to be launched by H-2A rocket and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

    CiNii

  • 2A2-S09 RFAにおいて非対称形状の焼灼領域形成を可能にする電極針の機構の検討(手術支援ロボティクス・メカトロニクス(1))

    磯部 洋佑, 山崎 望, 渡辺 広樹, 小林 洋, 宮下 朋之, 大平 猛, 橋爪 誠, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集   2012   "2A2 - S09(1)"-"2A2-S09(3)"  2012年05月

     概要を見る

    RFA is a treatment modality for cancer that is becoming accepted because of its less-invasiveness and high-curability. Controlling the shape of ablation area increases curative effect. Therefore we propose the mechanism of electrode needle that RF current flow between two secondary electrode needles. We examined the parameters required to obtain a trapezoidal ablation area surrounded by two electrode needles. The result of simulation, it was suggested that the relation of length and thickness of two needles affect ablation. In addition, we performed ablation experiments using agar phantoms. We evaluated the ablation shape of simulation and experiment as three-dimensional cube set. Then, we confirmed that result of simulation and experiments were in agreement.

    CiNii

  • Nonlinear Reaction Force Analysis for Characterization of Breast Tissues

    Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Yasuyuki Shiraishi, Tomoyuki Miyashita, Tomoyuki Yambe, Masakatu G. Fujie

    COMPUTER AIDED SURGERY   3   125 - 134  2012年

     概要を見る

    This paper addresses a diagnostic palpation system based on the measurement of nonlinear elasticity. An indentation probe is used to press against breast tissue. Then, the measured reaction force is used to estimate the parameters of nonlinear elasticity, which enables the identification of tissue type, such as fat, muscle, mammary gland or tumor. Here, we present the basic concept of our study and preliminary experimental and simulation results from pilot studies. More specifically, we measured the nonlinear response of reaction force using the breast of a goat. In addition, we also simulated the reaction force using nonlinear biomechanical simulation with several tissue types. Large differences in reaction force occur only in the nonlinear range in both experimental and simulation situations. Our results confirmed the feasibility of our concept.

  • Validation of Accuracy of Liver Model with Temperature-Dependent Thermal Conductivity by Comparing the Simulation and in vitro RF Ablation Experiment

    Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, XiaoWei Lu, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2012   5712 - 5717  2012年  [査読有り]  [国際誌]

     概要を見る

    Radiofrequency (RF) ablation is increasingly used to treat cancer because it is minimally invasive. However, it is difficult for operators to control precisely the formation of coagulation zones because of the inadequacies of imaging modalities. To overcome this limitation, we previously proposed a model-based robotic ablation system that can create the required size and shape of coagulation zone based on the dimensions of the tumor. At the heart of such a robotic system is a precise temperature distribution simulator for RF ablation. In this article, we evaluated the simulation accuracy of two numerical simulation liver models, one using a constant thermal conductivity value and the other using temperature-dependent thermal conductivity values, compared with temperatures obtained using in vitro experiments. The liver model that reflected the temperature dependence of thermal conductivity did not result in a large increase of simulation accuracy compared with the temperature-independent model in the temperature range achieved during clinical RF ablation.

    DOI PubMed

    Scopus

    7
    被引用数
    (Scopus)
  • Development of a temperature distribution simulator for lung RFA based on air dependence of thermal and electrical properties

    Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2012   5699 - 5702  2012年  [査読有り]  [国際誌]

     概要を見る

    Radio frequency ablation (RFA) for lung cancer has increasingly been used over the past few years, because it is a minimally invasive treatment. As a feature of RFA for lung cancer, lung contains air. Air is low thermal and electrical conductivity. Therefore, RFA for this cancer has the advantage that only the cancer is coagulated, because the heated area is confined to the immediate vicinity of the heating point. However, it is difficult for operators to control the precise formation of coagulation zones due to inadequate imaging modalities. We propose a method using finite element method to analyze the temperature distribution of the organ in order to overcome the current deficiencies. Creating an accurate thermal physical model was a challenging problem because of the complexities of the thermal properties of the organ. In this study, we developed a temperature distribution simulator for lung RFA using thermal and electrical properties that were based on the lung's internal air dependence. In addition, we validated the constructed simulator in an in vitro study, and the lung's internal heat transfer during RFA was validated quantitatively.

    DOI PubMed

    Scopus

    7
    被引用数
    (Scopus)
  • A study on estimation of the deformation behavior in the collapse process of lung

    Yusuke Katsuyama, Nozomu Yamazaki, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2012   2817 - 2822  2012年  [査読有り]

     概要を見る

    In this paper, finite element methodology was applied to predict the deformation of tissue during lung collapse using pre-operative information. Accurate prediction of lung collapse deformation prior to surgical intervention can provide valuable diagnostic information to clinical staff, allowing a better understanding of the movement of the target segment. This paper describe the methodology to derive the deformed shape of finite element model that satisfy the equilibrium condition using 3-D model developed from the image measured by a multi-slice CT imaging device. The movement of the target segment can be predicted by the finite element model. Previous research studies applied the distributed load on the surface of the lung structure as loading conditions. Here we have suggested a method that considers the deformation of alveoli contraction and elongation while breathing. Specifically, by introducing the governing equations of a reduction in volume strain into the governing equations of the finite element method, lung structure is analyzed. Lung deformation obtained from the analysis was compared with experimental results and compared with the proposed method. The proposed method showed an improvement of deformation-prediction accuracy as 0.58%. We confirmed the qualitative similarities between the deformation of the analysis and the experiment, thus demonstrating the effectiveness of the proposed method.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • A Method for Deriving the Coagulation Boundary of Liver Tissue Using a Relational Model of Viscoelasticity and Temperature in Radio Frequency Ablation

    XiaoWei Lu, Mariko Tsukune, Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2012   187 - 190  2012年  [査読有り]  [国際誌]

     概要を見る

    Recently radiofrequency (RF) ablation has become increasingly important in treating liver cancers. RF ablation is ordinarily conducted using elastographic imaging to monitor the ablation procedure and the temperature of the electrode needle is displayed on the RF generator. However, the coagulation boundary of liver tissue in RF ablation is unclear and unconfident. This can lead to both excessive and insufficient RF ablation thereby diminishing the advantages of the procedure. In the present study, we developed a method for determining the coagulation boundary of liver tissue in RF ablation. To investigate this boundary we used the mechanical characteristics of biochemical components as an indicator of coagulation to produce a relational model for viscoelasticity and temperature. This paper presents the data acquisition procedures for the viscoelasticity characteristics and the analytical method used for the coagulation model. We employed a rheometer to measure the viscoelastic characteristics of liver tissue. To determine the model functional relationship between viscoelasticity and temperature, we used a least-square method and the minimum root mean square error was calculated to optimize the model functional relations. The functional relation between temperature and viscoelasticity was linear and non-linear in different temperature regions. The boundary between linear and non-linear functional relation was 58.0 degrees C.

    DOI PubMed

    Scopus

    3
    被引用数
    (Scopus)
  • Product design optimization method considering the integrated satisfaction level

    Masataka Yoshimura, Masaki Satou, Tomoyuki Miyashita, Hiroshi Yamakawa

    Proceedings of the IASTED International Conference on Engineering and Applied Science, EAS 2012     303 - 310  2012年

     概要を見る

    We propose a product design optimization method that maximizes the integrated satisfaction level for evaluative factors. Product designs include many evaluative factors that have complex interrelationships. To cope with such circumstances, we construct strategies and a practical method to obtain optimum design solutions. First, the evaluative items for the product are listed and each item is decomposed into evaluative factors. Next, to express designers' or potential customers' levels of satisfaction for the characteristic values of each evaluative factor, we define satisfaction functions that incorporate the relationship between characteristic values and satisfaction levels. Weighting coefficients for the evaluative factors are then obtained by the pair comparison method. Finally, an integrated satisfaction level is formulated by summing the characteristic values with their weighting coefficients over the entire set of evaluative factors. The integrated satisfaction level of the objective function is maximized, and optimum design solutions with maximum satisfaction levels are then obtained. If necessary, these solutions can be modified and improved by re-examining and adjusting the satisfaction functions and weighting coefficients. Furthermore, the proposed method can be used to find schemes that improve the integrated satisfaction level. The utility of the proposed method is demonstrated using a passenger train coach design.

    DOI

    Scopus

  • 肺臓内部空気を考慮した温度分布シミュレータによる肺臓RFAの焼灼範囲の検討

    山崎 望, 渡辺 広樹, 関 雅俊, 小林 洋, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   13 ( 3 ) 292 - 293  2011年11月

    CiNii

  • 有限要素法を用いたRFA中の臓器内血流量推定手法の提案

    渡辺 広樹, 山崎 望, 小林 洋, 宮下 朋之, 大平 猛, 橋爪 誠, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   13 ( 3 ) 286 - 287  2011年11月

    CiNii

  • 2309 肺構造の虚脱過程における変形挙動の推定に関する研究(バイオメカニクス(3),OS・一般セッション講演)

    勝山 雄介, 宮下 朋之

    計算力学講演会講演論文集   2011 ( 24 ) 648 - 650  2011年10月

    CiNii

  • 2002 グラフィックスハードウエアによる3次元静解析の高度化に関する研究(OS20.次世代CAD/CAM/CAE/CG/CSCW/CAT/C-Control(1),OS・一般セッション講演)

    小林 祐太, 宮下 朋之

    計算力学講演会講演論文集   2011 ( 24 ) 589 - 591  2011年10月

    CiNii

  • 3202 人工衛星の機器配置を考慮した軽量化設計に関する研究(OS6-4 設計と最適化IV-構造設計への応用-,OS6 設計と最適化)

    水町 星哉, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2011 ( 21 ) 537 - 542  2011年10月

     概要を見る

    Recently the development of the nano satellite becomes active. In general, nano satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is reasonable, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. We have to design of satellite structure considering the severe mechanical environment of launching. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In this paper, we will propose the design of the satellite whose dimension is 400 millimeters cube. The satellite supposed to be launched by H-II A rocket and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

    CiNii

  • 2403 鉄道車両の衝突時における乗客挙動の推定に関する実験的考察(GS1-2 一般セッションII,GS1 一般セッション)

    田中 佑典, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2011 ( 21 ) 376 - 381  2011年10月

     概要を見る

    An experiment on the estimation of a large number of passenger's behavior in under a train collision is studied using small train model. Here, we treated the position of passenger paying attention to a seat for seven persons. As a result of the experiment, passenger's head injury is influenced by seating position or coefficient of static friction of floor material. We discussed relation of between seating position or coefficient of static friction of floor material and passenger's head injury, and proposed four ideas reducing damage of passengers.

    CiNii

  • 2101 概念設計支援におけるデータ包絡分析法およびTRIZ理論の応用(OS10-1 創発と発想支援,OS10 創発性と多様性の設計)

    佐藤 正樹, 花田 龍, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2011 ( 21 ) 129 - 134  2011年10月

     概要を見る

    In conceptual design phase, According paying attention to specific design objectives, designers sometimes avoid to get various ideas about new product. On the other hand, using brainstorming allows to get various ideas, but it causes a problem to obtain a lot of unavailable ideas together. In this study, to support generating various and effective ideas in conceptual design, we propose a conceptual design support method applying Data Envelopment Analysis and TRIZ. We proposed the method using several evaluation values to fill the gap of pareto frontier and creating hierarchy graphs. In this study, we propose the method using TRIZ at the Brain Storming stage in addition to the our proposed method. Various information is given to the designer from hierarchy relation graphically and TRIZ when they conceive new ideas. We verified which technique is effective to obtain new ideas with high evaluation by comparing these two methods. The result shows that the proposed method using TRIZ is more efficient than the other way not using TRIZ.

    CiNii

  • 2P1-C08 乳房を構成する組織の非線形弾性率の測定と比較(医療ロボティクス・メカトロニクス)

    築根 まり子, 小林 洋, 星 雄陽, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集   2011   "2P1 - C08(1)"-"2P1-C08(4)"  2011年05月

     概要を見る

    As the number of breast cancer patients increases, non- invasive and accuracy diagnosis of breast cancer is required. It is expected that there is diagnostic potential in examining the nonlinear elastic properties of soft tissues. The measurement method of the nonlinear elasticity of tumor in breast is needed. Therefore, we propose the robotic palpation system for diagnosis based the nonlinear elasticity. Here, we report the measurement of the nonlinear elastic properties of breast tissue components. The nonlinear elastic properties of breast tissue were investigated with a creep test. The three parameters of the nonlinear elastic model were acquired. In conclusion, two of these parameters are significantly different among the components. There was indicated that the magnitude of parameter is determined by tissue structure. There was suggested that the difference in parameter distribution causes the difference in dynamic response of breast tissue.

    CiNii

  • Investigation of Lung Lethargy Deformation Using Finite Element Method

    M. K. Zamani, M. Yamanaka, T. Miyashita, R. Ramli

    5TH KUALA LUMPUR INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING 2011 (BIOMED 2011)   35   170 - +  2011年  [査読有り]

     概要を見る

    Lung cancer has become one of most killing disease in 20th century. There are various external and internal causes identified by experts to be the causes of this disease. Various type of treatments have been developed taking account on the stage and condition of cancer itself, such as Radiation Therapy, Chemotherapy and Surgery.
    In this paper, a method called Thoracoscopy is focused for improvement by investigating a possibility of using finite element method (FEM) to predict deformation and movement of tumor during lung lethargy process as a preparation stage for this surgery method to be deployed. Thoracoscopy is suitable for stage-I cancer, as it will only create a small incisions on the skin and has high possibility to cure by removing the tumor. This paper used a commercial FEM tool to model lung in 3-dimension and by using tested data of material properties, a simulated result of lung lethargy process was compared with experimental data. Results revealed a few promising points to further develop this virtual capability and use it to predict deformation prior the surgery.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • Estimation of Intraoperative Blood Flow during Liver RF Ablation Using a Finite Element Method-based Biomechanical Simulation

    Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2011   7441 - 7445  2011年  [査読有り]  [国際誌]

     概要を見る

    Radiofrequency ablation is increasingly being used for liver cancer because it is a minimally invasive treatment method. However, it is difficult for the operators to precisely control the formation of coagulation zones because of the cooling effect of capillary vessels. To overcome this limitation, we have proposed a model-based robotic ablation system using a real-time numerical simulation to analyze temperature distributions in the target organ. This robot can determine the adequate amount of electric power supplied to the organ based on real-time temperature information reflecting the cooling effect provided by the simulator. The objective of this study was to develop a method to estimate the intraoperative rate of blood flow in the target organ to determine temperature distribution. In this paper, we propose a simulation-based method to estimate the rate of blood flow. We also performed an in vitro study to validate the proposed method by estimating the rate of blood flow in a hog liver. The experimental results revealed that the proposed method can be used to estimate the rate of blood flow in an organ.

    DOI PubMed

    Scopus

    11
    被引用数
    (Scopus)
  • Evaluation and comparison of the nonlinear elastic properties of the soft tissues of the breast

    Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2011   7405 - 7408  2011年  [査読有り]  [国際誌]

     概要を見る

    As the number of breast cancer patients increases, there is an increasing need for accurate non-invasive methods for the diagnosis of breast cancer. It is possible that the nonlinear elastic properties of soft tissues of the breast can be used as a basis for diagnostic methods. Therefore, we have proposed a robotic palpation system for diagnosis based on the nonlinear elastic properties of tissue. Here, we measured the nonlinear elastic properties of soft tissues of the breast using creep tests and three parameters of the nonlinear elastic model were acquired. Two of these parameters are significantly different among soft tissues of the breast and that the magnitude of these parameters was determined by the tissue structure. These parameters could be used to differentiate between tissue types and aid in the diagnosis of breast cancer.

    DOI PubMed

    Scopus

    6
    被引用数
    (Scopus)
  • Palpation Nonlinear Reaction Force Analysis for Characterization of Breast Tissues

    Yo Kobayashi, Mariko Tsukune, Takeharu Hoshi, Tomoyuki Miyashita, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. Fujie

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2011   7393 - 7396  2011年  [査読有り]  [国際誌]

     概要を見る

    This paper addresses a diagnostic palpation system based on the measurement of nonlinear elasticity. An indentation probe is used to press against breast tissue. Then, the measured reaction force is used to estimate the parameters of nonlinear elasticity, which enables the identification of tissue type, such as fat, muscle, mammary gland or tumor. Here, we present the basic concept of our study and preliminary experimental and simulation results from pilot studies. More specifically, we measured the nonlinear response of reaction force using the breast of a goat. In addition, we also simulated the reaction force using nonlinear biomechanical simulation with several tissue types. Large differences in reaction force occur only in the nonlinear range in both experimental and simulation situations. Our results confirmed the feasibility of our concept.

    DOI PubMed

    Scopus

  • Modeling the Internal Pressure Dependence of Thermal Conductivity and in vitro Temperature Measurement for Lung RFA

    Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2011   5753 - 5757  2011年  [査読有り]  [国際誌]

     概要を見る

    Radio frequency ablation (RFA) for lung cancer has increasingly been used over the past few years because RFA is minimally invasive treatment for patients. As a feature of RFA for the lung cancer, lung has the air having low thermal conductivity. Therefore, RFA for lung has the advantage that only the tumor is coagulated because heating area is confined to the immediate vicinity of the heating point. However, it is difficult for operators to control the precise formation of coagulation zones due to inadequate imaging modalities. We propose a method using numerical simulation to analyze the temperature distribution of the organ in order to overcome the current deficiencies. Creating an accurate thermophysical model was a challenging problem because of the complexities of the thermophysical properties of the organ. In this work, as the processes in the development of ablation simulator, measurement of the pressure dependence of lung thermal conductivity and in vitro estimation of the temperature distribution during RFA is presented.

    DOI PubMed

    Scopus

    5
    被引用数
    (Scopus)
  • Development and Evaluation of an Identification Method for the Biomechanical Parameters Using Robotic Force Measurements, Medical Images, and FEA

    Takeharu Hoshi, Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2011   5386 - 5391  2011年  [査読有り]  [国際誌]

     概要を見る

    This paper presents a new identification method for the biomechanical parameters of human tissues for the purpose of improving the accuracy of dynamic organ simulation. We describe the formulation of the method, and also design a robotic system to implement the method using a robotic probe, a medical imaging device, and a numerical simulator for the finite element analysis (FEA). We carried out an experiment using an experimental system and a tissue phantom to verify the effectiveness of the method. The results of this experiment show that the Young's modulus of the tissue phantom can be estimated with the experimental system. We also compared the estimated values of the Young's moduli with the measured values from a rheometer. These results confirm that the identification method and the system design, proposed and developed in this work, are effective for accurately simulating organ behavior.

    DOI PubMed

    Scopus

  • 肺臓のラジオ波焼灼施行中における電極針近傍の温度測定

    山崎 望, 渡辺 広樹, 関 雅俊, 小林 洋, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   12 ( 3 ) 302 - 303  2010年11月

    CiNii

  • 1501 衝撃荷重を受ける梱包用構造物の監視デバイスに関する研究(GS1 一般セッション)

    水野 智正, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2010 ( 20 ) "1501 - 1"-"1501-6"  2010年10月

     概要を見る

    The corrugated cardboard is widely used for packing in the transportation. Therefore, the technology that minimizes various transportation accidents is necessary. Especially, the accidents by the impact occupies the more than the half of the accidents. There are many researches that evaluates the maximal acceleration of the corrugated cardboard under the impact. However, because the maximal acceleration is not necessarily corresponding to the damage of contents, it is difficult to evaluate the impact of the corrugated cardboard only by the maximal acceleration. Also the place to measure is the center of the ground side but it is not discussed about the measuring place. In this paper, impact force is applied by a free fall test by a guide rail to drop it straight to the ground. The ID acceleration sensor, are glued in several place to make clear the difference between the measured place. From the experiment, we considered impact energy and the maximal acceleration. In addition, we made an analytical model of the corrugated cardboard to analysis to identity the damage. As a result, strain energy has a correspondence between the experiment and the analysis and the maximal acceleration didn't have it. So, the utility of the strain energy was able to be shown as a method of evaluating the impact using FEM. Through this result, we watched how the energy spread and found out the center of the ground side and the wall side has a high energy when it's impacted and when a few second pasts the wall side still has a high energy because of the vibration of the cardboard. To find out the relation between the data from the corrugated cardboard and the contents. As a result, the maximal acceleration has a strong relation between the center of the ground side and the energy has a strong relation between the middle of the center and the corner. Finally, we also considered HIC36 to evaluate the impact.

    CiNii

  • 1201 データ包絡分析法を用いた概念設計支援に関する研究(OS6 モデル駆動型の製品システム開発)

    佐藤 正樹, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2010 ( 20 ) "1201 - 1"-"1201-6"  2010年10月

     概要を見る

    In conceptual design phase, if designers are much more conscious of design objectives, they won't come up with various ideas about new product. On the other hand, using brainstorming allow to get various ideas, but to get a lot of unavailable ideas together. In this study, to support generating various and effective ideas in conceptual design, we propose two conceptual design support methods based on Data Envelopment Analysis and Analytic Hierarchy Process. The former is the method using several evaluation values to fill the gap of palate frontier and creating hierarchy graphs. The latter is method establishing a prioritized list of all ideas by paired comparison. Various information is given to the designer from these graphs when they conceive new ideas. We verified which technique is effective to obtain new ideas with high evaluation by comparing these two methods. The result shows that the proposed method using hierarchy graphs is more efficient than the other way using the prioritization graph.

    CiNii

  • 406 GPGPUを用いたセルラオートマトン法による簡易弾性体解析(OS4. 大規模並列・連成解析と関連話題(2),オーガナイズドセッション講演)

    白井 朋彦, 宮下 朋之

    計算力学講演会講演論文集   2010 ( 23 ) 337 - 339  2010年09月

    CiNii

  • 腫瘍の位置提示ナビゲーションシステムへの応用を目的とした肺の虚脱シミュレーション

    小林 洋, 吉澤 愛子, 岡本 淳, 宮下 朋之, 山川 宏, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   12 ( 1 ) 13 - 21  2010年03月

     概要を見る

    It is required to collapse a lung in VATS (video-assisted thoracic surgery). The tumor position is displaced corresponding to ling collapse. Then, navigation system, which presents the tumor position for a surgeon without any palpation process, may be effective for VATS. The purpose of this study is to develop the navigation system using the collapse simulation of lung. This paper shows a collapse simulation with a loaf lung, which has no lobatum, as a first step of this study. First, we obtained and modeled the material properties of hog lung from the data obtained by rheometer. The Zener's model was used to represent the viscoelastic properties of lung from the analysis of the data. Next, the biomechanical model of lung was developed based on Finite Element Method. The collapse simulation was carried out using the model. The analysis result shows the lung model was collapsing and the deformation had the similar tendency to real lung.

    DOI CiNii

  • Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation

    Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie

    2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   2010   3222 - 3228  2010年  [査読有り]  [国際誌]

     概要を見る

    Radiofrequency ablation (RFA) for liver cancer has increasingly been used over the past few years because RFA is minimally invasive treatment for patients. However, precise control of the formation of coagulation zones is difficult for operators due to inadequate imaging modalities. With this in mind, we have proposed a model-based robotic ablation system using numerical simulation to analyze temperature distributions in the organ to overcome this deficiency. The objective of our work is to develop a temperature-dependent thermophysical organ model to construct a precise numerical simulator for RFA. However, no standard methods exist for obtaining the thermophysical properties of biological tissues, as detailed evaluations of the accuracy of properties obtained from various experiments have not been completed. The purpose of this study was thus to measure and model the temperature dependence of thermal conductivity in hog liver from three representative methods, and to compare these results using our developed numerical simulator to reveal differences in temperature distributions stemming from differences in thermal conductivities.

    DOI PubMed

    Scopus

    21
    被引用数
    (Scopus)
  • Quantitative Palpation to Identify the Material Parameters of Tissues Using Reactive Force Measurement and Finite Element Simulation

    Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     2822 - 2828  2010年  [査読有り]

     概要を見る

    In this paper we present a new robotic palpation method to perform quantitative measurement of the material parameters of human tissues, for use in medical applications. The proposed method is achieved by the use of a system that integrates a robotic component and a numerical simulation component. The robotic component is used to measure the contact force and displacement at each point on the human body contacted by a robotic probe. The numerical simulation component identifies the material parameters using the proposed method, where two data sources are used, namely, (1) the measured data from the robotic part, and (2) simulated deformation data obtained by the finite element method. In order to validate the proposed system, we report initial results from several phantom tissue experiments, which demonstrate the ability of the system to quantitatively determine the elastic moduli of tissues. We also discuss several potential challenges in the future of the proposed system.

    DOI

    Scopus

    7
    被引用数
    (Scopus)
  • 2417 鉄道車両の衝撃吸収性を考慮した構造最適化(OS7-4 設計と最適化IV-空力特性・積層構造-,OS7 設計と最適化)

    小松崎 誠人, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2009 ( 19 ) 536 - 541  2009年10月

     概要を見る

    As compared with automobile, few train design methods for crashworthiness have been proposed. To establish it, we paid attention to double structure composed of train exterior and cabin, and designed train finite element model. We changed the position and thickness of steel plates joining these two constituents, and simulated train collision to a rigid body wall at the speed of 60 kilometer per hour. As a result of the optimization, it was shown that distortional energy in the cabin and maximum deceleration were reduced. We discussed relation of between absorbed energy and maximum deceleration, and introduced new train structure.

    CiNii

  • 2206 小型人工衛星の構造最適化に関する研究(OS9-1 システム最適化,OS9 システム最適化)

    齊藤 圭佑, 宮下 朋之, 角田 博明, 渡辺 和樹

    設計工学・システム部門講演会講演論文集   2009 ( 19 ) 354 - 359  2009年10月

     概要を見る

    Recently the development of the small satellite becomes active. In general, small satellites are expected to be developed faster and cheaper than the large satellites. A cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. Considering the severe mechanical environment of launching, we have to design satellite structure. The natural frequency of the satellite should be higher than the value decided by the launching and the satellite should bear the loads during launch. And the satellite should be considered with the value of the moment of inertia and a center of gravity because of stability of position. In this paper, we will propose the design of the satellite whose dimension is 20 centimeters cube. We focused on the trade-off design between minimization of stress condition and the appropriate center of gravity and the moment of inertia under the minimum natural frequency and the maximum mass for optimizing the satellite structures.

    CiNii

  • 1907 内部移動と実時間を考慮した穿刺シミュレーション(OS19.計算ソリッドバイオメカニクス(2),オーガナイズドセッション)

    吉武 佑祐, 宮下 朋之

    計算力学講演会講演論文集   2009 ( 22 ) 591 - 592  2009年10月

    CiNii

  • G1201-1-1 鉄道車両衝撃時の乗員と車内設備の干渉における安全性の評価(車両・CAD)

    島田 真行, 宮下 朋之

    年次大会講演論文集 : JSME annual meeting   2009 ( 4 ) 193 - 194  2009年09月

     概要を見る

    This study treats human body model and cellular automata for analysis of the passenger behavior for the deceleration at the time of the railway accident. At this case, the deceleration obtained from simulation of the railroad carriage model is used for simulation suppose to collision to the rigid body wall. Consequently, it was shown that injury to the passenger was able to be reduced by the parameter of the partition and the floor when accident was occured.

    DOI CiNii

  • 3・4 CAE・最適化等についての研究動向(3.計算力学,<特集>機械工学年鑑)

    宮下 朋之

    日本機械学會誌   112 ( 1089 ) 615 - 616  2009年08月

    CiNii

  • A IMPROVEMENT METHOD OF CONCEPUTUAL DESIGN IDEAS USING DATA ENVELOPMENT ANALYSIS

    Tomoyuki Miyashita, Daisuke Satoh

    ICED 09 - THE 17TH INTERNATIONAL CONFERENCE ON ENGINEERING DESIGN, VOL 6: DESIGN METHODS AND TOOLS, PT 2   6 ( PART 2 ) 13 - +  2009年  [査読有り]

     概要を見る

    The designers often are required to derive ideas of the products satisfying requirements of users and market. To accomplish to derive good design, it is important to have much information for previous designs and collaborate with the other designers. At an early stage of design process, several designers have to derive ideas considering its evaluation in cooperation. In this stage, some existing methods to support thinking processes among several persons are useful. However, it is difficult to give a direction for discussion because a reasonable evaluation of ideas is difficult and it is also difficult for the evaluation to be accepted by the other designers. In this study, we propose a method to support generating various and effective ideas in conceptual design process. The ideas are mathematically defined to have factors of evaluation and features and numerically treated in these factors space. Data Envelopment Analysis (DEA) is applied for ideas having many factors of evaluation to derive reasonably a scalar value for evaluation result. DEA gives us a segment of many ideas and from this segment we can discuss a new idea. To support deriving a new idea, we have identified nonlinear mathematical model between factors of evaluation and features and optimization method was applied for the identified model. The proposed method is applied for the experiment and we could confirm the effectiveness of the proposed method.

  • A study on idea generation method for concept design using data envelopment analysis

    Daisuke Satoh, Masakazu Kobayashi, Tomoyuki Miyashita

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   75 ( 760 ) 3355 - 3363  2009年

     概要を見る

    At an early stage of design process, it is required to discuss many ideas derived from design requirements using designer's knowledge and experiences. Especially, at conceptual design stage, many designers often discuss together about new product and discuss design ideas considering its effectiveness. However, according to increasing the complexity of the functions of products and variety of consumer's needs in recent years, it becomes difficult for designers to discuss about ideas by only conversations and figures. Then, in the conceptual design process, it is required to derive many ideas that meet the design requirement considering the complicated requirements. The derivation process of ideas often wastes the time because of the inertia of designer's thinking process. In this study, we will propose the method to support derivation process from the visualized relation using Data Envelopment Analysis. Through the experiment, we will confirm the effectiveness of our study.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • データ包絡分析法を用いた概念設計における発想支援に関する研究(機械要素,潤滑,設計,生産加工,生産システムなど)

    佐藤 大祐, 小林 正和, 宮下 朋之

    日本機械学會論文集. C編   75 ( 760 ) 3355 - 3363  2009年

     概要を見る

    At an early stage of design process, it is required to discuss many ideas derived from design requirements using designer's knowledge and experiences. Especially, at conceptual design stage, many designers often discuss together about new product and discuss design ideas considering its effectiveness. However, according to increasing the complexity of the functions of products and variety of consumer's needs in recent years, it becomes difficult for designers to discuss about ideas by only conversations and figures. Then, in the conceptual design process, it is required to derive many ideas that meet the design requirement considering the complicated requirements. The derivation process of ideas often wastes the time because of the inertia of designer's thinking process. In this study, we will propose the method to support derivation process from the visualized relation using Data Envelopment Analysis. Through the experiment, we will confirm the effectiveness of our study.

    DOI CiNii

    Scopus

    1
    被引用数
    (Scopus)
  • 835 実時間性を考慮した穿刺シミュレーションのアルゴリズムの構築と評価(OS11.計算ソリッドバイオメカニクス(4),オーガナイズドセッション)

    山中 真先, 宮下 朋之

    計算力学講演会講演論文集   2008 ( 21 ) 642 - 643  2008年11月

     概要を見る

    The simulation system that calculates the behavior of the liver by needle insertion in real time, displays the results, and outputs the reaction force to the kinesthetic sense device was developed. The finite element method was used for the calculation of the behavior of the liver. Considering the calculation load, the algorithm to achieve the real-time processing was developed. The simulation system was evaluated from calculating load by using the liver models with different number of elements. It was the model with 905 elements and 209 nods that met the requirement for the real-time processing (calculation speed is 30Hz or more).

    CiNii

  • 908 鉄道車両衝撃時の乗員と車内設備の干渉における安全性の評価(OS5.社会・環境・防災シミュレーション,ポスターセッションP-1,オーガナイズドセッション)

    片岡 耕介, 宮下 朋之

    計算力学講演会講演論文集   2008 ( 21 ) 73 - 74  2008年11月

     概要を見る

    This study treats the reduction of the degree of the passenger injury by analyzing the behavior of 133 passengers being in a commuter vehicle at the time of the impact of the railroad accident outbreak with a computer. Judgment the degree of the injury of the passengers and inspection of the global safety was enabled by developing the behavior analysis program of the passengers with cellular automata with C language and analyzing with a large number of people. In addition, the safety improvement effect of the straps was confirmed by comparing the injury judgment value of the model increased the number of the straps to the normal model.

    CiNii

  • 3305 データ包絡分析法による車両構造・性能データを用いた設計指針の検討

    福西 大智, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2008 ( 18 ) 529 - 534  2008年09月

     概要を見る

    In this research, we analyzed the automotive data that contain bringing the automotive performance from about 300000 models from which they were open to the public from 1982 to 2006 years about 20000 models by Data Envelopment Analysis. DEA is the method that can make clear superiority or inferiority of business unit with multi-dimensional index and showing improvement direction of business unit. As a result, we can show trends from graph where horizontal axis was assigned as each performance index and vertical axis was assigned as each efficiency value obtained by DEA. We showed design index of automotive in the future by sensitivity analysis. From the above-mentioned method, we can confirm DEA is the effective method as method of evaluating products with multi-dimensional index.

    CiNii

  • 1111 ニューラルネットワークを用いた概念設計支援に関する基礎的検討

    佐藤 大祐, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2008 ( 18 ) 77 - 82  2008年09月

     概要を見る

    In conceptual design phase, if designers are much more conscious of design objectives, they won't come up with various ideas about new product. On the other hand, using brainstorming allow to get various ideas, but to get a lot of unavailable ideas together. In this study, we propose the method that supports generating various and effective ideas in conceptual design. In the last our study, we have proposed conceptual design support method using Data Envelopment Analysis. The last method's approach is using several evaluation values to fill the gap of palate frontier. But it was too difficult for subjects to use this approach in the experiment. Proposed method in this paper supplies key words. These key words are made of calculated component values using made nonlinear mathematical model of relation between component and evaluation of idea with Neural Network. We confirm that the method is useful in terms of simplicity of generating various and effective ideas.

    CiNii

  • 3116 小型人工衛星の構造最適化に関する研究

    齊藤 圭佑, 宮下 朋之, 角田 博明, 渡辺 和樹

    設計工学・システム部門講演会講演論文集   2008 ( 18 ) 441 - 446  2008年09月

     概要を見る

    Recently the development of the small satellite becomes active. In general, small satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is low, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. Considering the severe mechanical environment of launching, we have to design of satellite structure. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In this paper, we will propose the design of the satellite whose dimension is 20 centimeters cube. The satellite supposed to be launched by H-2A rocked and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

    CiNii

  • 包絡分析法に基づくコラボレーション設計支援(機械要素,潤滑,工作,生産管理など)

    小林 正和, 宮下 朋之, 山川 宏, 吉村 允孝

    日本機械学會論文集. C編   74 ( 738 ) 459 - 466  2008年02月

     概要を見る

    This paper focuses on the creative aspects of collaboration and proposes a method for analyzing created ideas to help designers to enhance designers' creativity during collaborative design projects. The proposed method is based on DEA (Data Envelopment Analysis), analyses ideas created by designers to reveal characteristics and overall effectiveness of each idea, interrelationship between ideas and potentially fruitful directions for improvement of created ideas and exploration of new ideas and aims to help designers explore more sophisticated ideas. To enable smooth collaboration when using the proposed analysis method, this paper also proposes a computerized support system. This system is based on a combination of the analysis method proposed here, and the method for visualizing interactive communication processes proposed in our previous work. Analyzing system analyzes created ideas and visualizes the results from the multiple viewpoints, whereas visualizing system records interactive communication processes among designers and visualizes them in an easyto-understand way.

    CiNii

  • 1P1-C10 拍動補償ロボットシステムの評価を目的とした拍動再現ロボットの開発(手術支援ロボティクス・メカトロニクス)

    岡田 薫, 加藤 篤, 野口 豊弘, 豊田 和孝, 川村 和也, 小林 洋, 岡本 淳, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集   2008 ( 0 ) _1P1 - C10_1-_1P1-C10_4  2008年

     概要を見る

    This paper presents the development of robot capable to simulate heartbeat. It is difficult to operate off-pump coronary-artery bypass surgery. Consequently, we develop the surgical robot system with heart-beat compensation. In the process of developing the robot system above, it is necessary to evaluate the tracking capability of the robot system quantitatively. Therefore, we developed the Robotic heart-beat simulator which evaluates the robot system. First of all, required specification of the robot was found by the heartbeat data in vivo experiment. Second, the link parameters of the robot that satisfy the specification were optimized. At the end, the robot was evaluated for accuracy of position and posture. As a result, the robot moved with maximum error of 0.28 [mm] and 0.54 [deg]. In addition, the robot was evaluated in the experiment of movement based on the heartbeat data, it showed a little error and time-lag, but utility of the robotic heartbeat simulator.

    DOI CiNii

  • 2106 データ包絡分析法による車両構造・性能データを用いた設計指針の検討(OS15 マーケットづくりのための設計)

    福西 大智, 宮下 朋之

    設計工学・システム部門講演会講演論文集   2007 ( 17 ) 119 - 120  2007年10月

     概要を見る

    In this research, we analyzed the automotive market bringing the automotive performance from about 300000 models from which they were open to the public from 1982 to 2006 years about 20000 models by Data Envelopment Analysis. DEA is the method that can make clear about superiority or inferiority of business unit with multi-dimensional index and showing improvement of business unit. As a result, we can show trends from graph where horizontal axis was assigned as each performance index and vertical axis was assigned as each efficiency value obtained by DEA. We showed design index of automotive in the future by sensitivity analysis. From the above-mentioned method, we can confirm DEA is the effective method as method of evaluating products with multidimensional index.

    CiNii

  • 2306 鉄道車両衝突時の乗客の安全性に関する研究(OS5-2 設計と最適化II)

    片岡 耕介, 宮下 朋之, 山川 宏

    設計工学・システム部門講演会講演論文集   2007 ( 17 ) 189 - 192  2007年10月

     概要を見る

    This study treats the reduction of the degree of the passenger injury by analyzing the behavior of the passenger sitting on a box seat at the time of the collision outbreak of the railroad carriage by simulation. Judgment the degree of the passenger injury was enabled by development the behavior analysis program of the passenger with C language and inputting a decelerating acceleration wave pattern at the time of the vehicle collision obtained by the finite element analysis. Injury judgment values decreased by more than 30% by optimizing to assume the spring constant of the seat as a design variable to reduce an injury judgment value.

    CiNii

  • 力覚を伴う穿刺シミュレータの構築と評価

    中村 拓真, 宮下 朋之, 山川 宏

    精密工学会学術講演会講演論文集   2007 ( 0 ) 141 - 142  2007年

     概要を見る

    臓器の変形,器具への力覚を提示する手術訓練シミュレーションシステムが多く開発されている.有限要素法は大規模行列演算であり,実時間計算を妨げる要因となっている.そこで計算手法を簡略化し,実時間内で穿刺時における力学現象を解析し,力覚を提示するシステムを構築する.反力を臓器モデルの内部応力から算出する簡易的手法を提案し,モデルの粒度と計算時間の観点からシステムの評価を行い,本研究の有効性を示した.

    CiNii

  • 穿刺経路と保持器具の設計

    モハマド カマロル, 宮下 朋之, 小林 洋, 山川 宏, 岡本 淳, 藤江 正克

    精密工学会学術講演会講演論文集   2007 ( 0 ) 137 - 138  2007年

     概要を見る

    The minimal invasive surgical technique used for treatments on cancer infected liver is comparatively to be effective due to fast recovery of the wound and the rehabilitation period. Needle insertion planning shows its difficulties when needle contact the tissue structures and become complicated with existence of gravity, cancer size and position, needle properties and surrounding organs. In this study, a constitutive equation of viscoelastic material properties of liver is formulated using measured experimental results on pig′s liver. 3-D Finite Element Model is created using sliced MRI images. Approximations were made on friction between needle and soft tissue, and the condition of tear-off elements integrated with quasi-static analysis. In simulation, we proposed a retainer tool to minimize the displacement of the cancer infected part as a new boundary condition. Numerical results by proposed boundary condition technique show the possibility to design a new device in order to navigate needle to hit the cancer precisely.

    CiNii

  • データ包絡分析法を用いた概念設計支援に関する基礎的検討

    佐藤 大祐, 宮下 朋之

    精密工学会学術講演会講演論文集   2007 ( 0 ) 543 - 544  2007年

     概要を見る

    概念設計段階における分野の異なる設計者集団の合意形成支援,及び目的に沿う多様なアイデアの発想支援を目的とする.複数のアイデアをアンケートで点数評価し,データ包絡分析法を用いて階層関係を提示することで,アイデアの上位関係の空間的な把握を支援する手法を提案した.CDプレーヤーを対象に被験者に概念設計を試行的に行い,提案手法の有用性の検討を行い,多様なアイデアを探索できる点で有用であることが認められた。

    CiNii

  • A simulation method for 3-dimension needle invasive medical treatments of cancer infected liver

    Kemarol zamani, Miyashita Tomoyuki, Hiroshi Yamakawa

    PROCEEDINGS OF THE FIFTH IASTED INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING     43 - 49  2007年  [査読有り]

     概要を見る

    The medical insertion treatments on cancer infected liver seem to be very effective because of low invasion for patients. Planning for insertion procedure is difficult because the interaction between needle and soft tissue become complicated and the liver may deform largely under the influence of such gravity, cancer, position of needle and so on. It is of significant to grasp natural properties and deformations of liver during medical needle insertion. In this study, viscoelastic material properties are measured by experiments and constitutive equation is formulated based on the experimental results. Then a liver is modeled by finite elements made from the sliced MRI images. 3-Dimensional needle insertion procedures are simulated by quasi-static analysis assuming friction between the needle and soft tissue and conditions of tear-off elements. From the numerical results by the proposed simulation method, it is found that some navigation of the needle insertion is necessary to hit the cancer correctly.

  • 穿刺手術のための生体力学モデルの開発

    山川 宏, モハマド カマロル, 中村 拓真, 川村 和也, 小林 洋, 岡本 淳, 宮下 朋之, 藤江 正克

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   8 ( 3 ) 140 - 141  2006年12月

    CiNii

  • Particle swarm optimization using projection matrix for behavior constraints

    Miyashita, Tomoyuki

    Collection of Technical Papers - 11th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference   1   122 - 128  2006年12月

     概要を見る

    Particle Swam Optimization is one of useful optimization method that has a global search ability and is easy to implement. However there are some difficulties are observed for behavior constraints. This paper proposes a new approach to treat behavior constrains by projection of velocity vector of particles. By projection of velocity vector particks could approach feasible region formed by active constraints. Through several numerical examples, it is recognized better converge performance than original PSO. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

  • 3201 部分硬化型インフレータブル構造の最適設計(J06-1 スマート構造,J06 知的材料・構造システム)

    佐藤 暢晃, 岩越 智之, 角田 博明, 山川 宏, 宮下 朋之

    年次大会講演論文集 : JSME annual meeting   2006 ( 6 ) 111 - 112  2006年09月

     概要を見る

    In this study, we proposed partially rigidizable inflatable structures consist of rigidizable layers on the part where to be stiffened. As a result of tension test of the test specimen, we could make the property of the material clear. Furthermore, we made a initial model that wholly covered hemisphere structural model and the topology optimization was applied to find the optimum arrangement of regidizable layers. As a result, the number of edge reduced to 35 lines, and considering the volume to 11% lower than that of the basic model. From the point of view of manufacturing, stiffness and stress concentration, we could suppose that the basic model is suitable for our required.

    DOI CiNii

  • 117 アイデアの評価・分析に基づく創造的コラボレーション支援(創造・創発〔II〕)

    小林 正和, 宮下 朋之, 山川 宏, 吉村 允孝

    Designシンポジウム講演論文集   2006   105 - 108  2006年07月

     概要を見る

    This paper focuses on the creative aspects of collaboration and proposes a method for analyzing created ideas to support collaborative design processes. The proposed method, based on DEA (Data Envelopment Analysis), analyses created ideas, reveals their characteristics and interrelationships, clarifies potential directions for improvement of created ideas as well as potentially fruitful directions for exploration of new ideas, and aims to help designers explore more sophisticated products. To enable smooth collaboration when using the proposed method, a computerized support system is constructed. This system is based on a combination of the analysis method proposed here, and the method for visualizing interactive communication processes proposed in our previous work.

    CiNii

  • A real-time FEM simulation for cutting operation using haptic device

    Tomoyuki Miyashita, Takuma Nakamura, Hiroshi Yamakawa

    CJK-OSM 4: The Fourth China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems     231 - 235  2006年  [査読有り]

     概要を見る

    In this study, we will review the previous studies treating same problem using FEM analysis and propose the method to treat the cutting simulation considering real time computation and simulation results are directly transferred to the user through the haptic device. The hex and tetra elements were used to model the structure using FEM analysis and dynamical response was calculated using Wilson-theta method. Here, the elements matrix was normalized according to the distance between a cutting device and nodes to omit the re-mesh procedures. The proposed method was implemented using three threads that handle graphics for display, dynamical calculation and model construction to improve the response for user operation. Then, we have developed the simulation system composed of the haptic device (PHANToM force feedback device) using ToolKit and the proposed method including graphics animation. Using the haptic device, we have been able to discuss about the obtained feeling through the device and obtain experimental results and compared from the points of view of the previous simple calculation method and the proposed method, the obtained reaction forces. We could confirm that the performances of the developed system using thread is very good and effective for the further improvement using detail calculation on FEM, the qualitative feelings and quantitatively obtained reaction forces are different among the compared method. Then, we could confirm the some properties and the effectiveness of the proposed method and the developed system.

  • 2A1-A03 転移性癌手術を対象とした呼吸器外科ナビゲーション

    吉澤 愛子, 小林 洋, 岡本 淳, 宮下 朋之, 山川 宏, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集   2006   "2A1 - A03(1)"-"2A1-A03(4)"  2006年

     概要を見る

    This paper shows the development of a respiratory surgical navigation system for the metastasis cancer in a collapsed lung. This system has two navigation methods, (a) Collapsed simulation,(b) Palpation using manipulator. Collapsed simulation provides the position of the cancer in a collapsed lung using the preoperative CT Data. Palpation using manipulator after collapsed simulation provide more precise position of collapsed lung.

    CiNii

  • 2P1-C03 実時間性を考慮した有限要素解析法による変形シミュレーション : 力覚デバイスによる検証

    山内 浩嗣, 宮下 朋之, 乾 正知, 山川 宏

    ロボティクス・メカトロニクス講演会講演概要集   2006   "2P1 - C03(1)"-"2P1-C03(4)"  2006年

     概要を見る

    In this study, we will review the previous studies treating same problem using FEM analysis and propose the method to treat the cutting simulation considering real time computation and simulation results are directly transferred to the user through the haptic device. The hex and tetra elements were used to model the structure using FEM analysis and dynamical response was calculated using wilson θ method. Here, the elements matrix was normalized according to the distance between a cutting device and nodes to omit the re-mesh procedures. The proposed method was implemented using three threads that handle graphics for display, dynamical calculation and model construction to improve the response for user operation. Then, we have developed the simulation system composed of the haptic device (PHANToM force feedback device) using ToolKit and the proposed method including graphics animation.

    CiNii

  • The Multi-objective collaborative design using data envelopment analysis

    Proc. of IFIP2005(IEEE)   Proc. of IFIP2005  2005年07月

  • The Multi-objective collaborative design using data envelopment analysis

    米国電気学会   Proc. of IFIP2005  2005年07月

  • Cutting Simulation using Haptic Device

    JSPE Precision Engineering Conference (Spring) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2005年03月

  • An Examination for structural optimization algorithm using GPU

    JSPE Precision Engineering Conference (Spring) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2005年03月

  • A Examination for improvement of PSO method considering Projection of Search Direction

    JSPE Precision Engineering Conference (Spring) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2005年03月

  • 力覚デバイスによる物体切断シミュレーション

    日本精密工学会   春季大会講演論文集  2005年03月

  • GPUを利用した二次元応力場における簡易計算と最適化の検討

    日本精密工学会   春季大会講演論文集  2005年03月

  • 探索方向の傾斜によるPSO法の改良に関する検討

    日本精密工学会   春季大会講演論文集  2005年03月

  • 力覚デバイスによる物体切断シミュレーション

    乾 正知, 宮下 朋之, 山内 浩嗣

    精密工学会学術講演会講演論文集   2005 ( 0 ) 239 - 240  2005年

     概要を見る

    物体切断における刃物にかかる反力の計算では、切断面において有限要素法による再メッシュを行う必要があり、計算量が膨大になるという問題があった。本研究では、粗いメッシュを用いた高速な変形計算と、得られた応力場より工具への反力の簡便な計算法を導入する事によって計算時間の短縮をはかり,計算結果を力覚デバイスに出力できる物体切断シミュレーションシステムを構築したので報告する。

    CiNii

  • Inverse offset of Z-map model for process planning assistance

    M Inui, T Miyashita

    ISATP 2005: IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP)   Proc. of ISATP2005   188 - 193  2005年  [査読有り]

     概要を見る

    Inverse offsetting is a special type of Minkowski sum operation with a solid model and an in versed shape of a milling cutter. In the NC machining, geometric simulations of the milling operation are often performed prior to the actual machining to visualize the result shape of the workpiece. Inverse offsetting of this workpiece shape is useful for automating some process planning tasks, especially, a task for determining milling regions for the following machining operations. Most milling, simulation programs use discrete Z-map models for representing the workpiece shape. In this paper, an algorithm for inverse of map model is offsetting the Z proposed Our algorithm computes dense zig-zag curves covering the Z-map model, then it generates the swept volume of the inversed cutter moving along the curves to obtain the inverse offset shape of the model. Proposed algorithm is implemented and an experimental process planning assistance program using this technology is demonstrated.

  • Inverse offset of Z-map model for process planning assistance

    M Inui, T Miyashita

    ISATP 2005: IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP)   Proc. of ISATP2005   188 - 193  2005年  [査読有り]

     概要を見る

    Inverse offsetting is a special type of Minkowski sum operation with a solid model and an in versed shape of a milling cutter. In the NC machining, geometric simulations of the milling operation are often performed prior to the actual machining to visualize the result shape of the workpiece. Inverse offsetting of this workpiece shape is useful for automating some process planning tasks, especially, a task for determining milling regions for the following machining operations. Most milling, simulation programs use discrete Z-map models for representing the workpiece shape. In this paper, an algorithm for inverse of map model is offsetting the Z proposed Our algorithm computes dense zig-zag curves covering the Z-map model, then it generates the swept volume of the inversed cutter moving along the curves to obtain the inverse offset shape of the model. Proposed algorithm is implemented and an experimental process planning assistance program using this technology is demonstrated.

  • An Application of Database For Design Optimization to Derive Quasi-Optimum Solutions

    Proc. of CJK-OSM3   Proc. of CJK-OSM3  2004年11月

  • A Study on Collaborative Optimization using Data Envelopment Analysis and Cutting Plane Method

    Proc. of CJK-OSM3   Proc. of CJK-OSM3  2004年11月

  • An Application of Database For Design Optimization to Derive Quasi-Optimum Solutions

    日本・中国・韓国機械学会   Proc. of CJK-OSM3  2004年11月

  • A Study on Collaborative Optimization using Data Envelopment Analysis and Cutting Plane Method

    日本・中国・韓国機械学会   Proc. of CJK-OSM3  2004年11月

  • Development and Basic Study of Parameter Study tools

    JSME Mechanical Engineering Congress /JSME   No.04-01  2004年09月

  • An improvement of Accuracy of Cutting Simulation for Z-map expression using normal line

    JSPE Precision Engineering Conference (Autumn) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2004年09月

  • パラメータスタディツールの開発と基礎的検討

    日本機械学会   機講論 No.04-01  2004年09月

  • 面法線情報を伴うZ-マップ表現を利用した加工シミュレーションの高精度化

    日本精密工学会   秋季大会講演論文集  2004年09月

  • Structural Optimization using Trade-off Satisficing Method

    Proc. of Int. Conf. of MCDM   Proc. of Int. Conf. of MCDM  2004年08月

  • Structural Optimization using Trade-off Satisficing Method

    Int. Soc. Of MCDM   Proc. of Int. Conf. of MCDM  2004年08月

  • An application of Discrete shape expression considering normal line information]

    JSPE Precision Engineering Conference (Spring) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2004年03月

  • A Development of Parameter Study Tools for Design Opotimization

    JSME Mechanical Engineering Congress /JSME   No.040-1  2004年03月

  • A Study on Collaborative Design using Data Envelopment Analysis

    JSME Mechanical Engineering Congress /JSME   No.040-1  2004年03月

  • 法線情報を伴う離散的形状表現のCAMでの利用

    日本精密工学会   春季大会講演論文集  2004年03月

  • 最適設計におけるパラメータスタディツールの開発

    日本機械学会   機構論 No.040-1  2004年03月

  • データ包絡分析法による協調設計に関する研究

    日本機械学会   機構論 No.040-1  2004年03月

  • A study on immune algoriths considering interaction of design with environment properties

    Miyashita, Tomoyuki, Yamakawa, Hiroshi

    Proceedings of the ASME Design Engineering Technical Conference   2 B   945 - 950  2003年12月

     概要を見る

    In design problems, designers have to decide many properties of products to satisfy requirements from users or market. The designers also have to consider the environment under the use of the products and the environment is often unpredictable or difficult to be determined in detail. The optimization techniques are useful to support the designers to decide the properties of the product. However, it is required before the application of the optimization techniques to formulate mathematical models and it is difficult to formulate the all properties of products, for examples preferences of the customer. In this situation, it seems to be useful to derive several solutions that equip the variety or diversity about the value of design variables or objective functions. In this paper, the new method to derive several solutions using immune algorithms is described. The proposed method equips the interaction mechanism between the design parameter and the environment parameters. Through some numerical examples of the structural design problems and job-shop scheduling problems, the effectiveness is confirmed.

  • Development of Genetic Range Genetic Algorithms

    Trans of JSME Series C/JSME   70-695C  2003年10月

  • An Examination on Jobshop Scheduling Problem in cosideration of diversity

    JSME Mechanical Engineering Congress /JSME   No.02-01  2003年10月

  • A Generation of geometoricaly smooth tool path based on discrete shape expression

    JSPE Precision Engineering Conference (Autumn) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2003年10月

  • 領域遺伝型遺伝的アルゴリズムの開発

    日本機械学会   機論(C) No.70-695  2003年10月

  • 多様性を考慮したジョブショップスケジューリング問題の検討

    日本機械学会   機構論 No.02-01  2003年10月

  • 離散的な形状表現に基づく幾何学的に滑らかな工具経路の生成

    日本精密工学会   秋季大会講演論文集  2003年10月

  • Genetic Range Genetic Algorithm to Obtain Quasi-Optimum Solutions

    Proc. of ASME 2003 Int. Design Eng. Tech. Conf. and the Comp. and Information in Eng. Conf.   CD-ROM of DETC DAC34051  2003年09月

  • A Study on Immune Algorithms Considering Interaction of Design with Environment Properties

    Proc. of ASME 2003 Int. Design Eng. Tech. Conf. and the Comp. and Information in Eng. Conf.   CD-ROM of DETC DAC48802  2003年09月

  • Range Zooming for Genetic Range Genetic Algorithms

    Proc. of WCSMO5   Proc. of WCSMO5  2003年09月

  • Errors in Optimization using the Response Surface Method and Resulting Physical Phenomena

    Proc. of WCSMO5   Proc. of WCSMO5  2003年09月

  • An Examination of Immune Algorithm for Structural and Production Design

    Proc. of WCSMO5   Proc. of WCSMO5  2003年09月

  • Genetic Range Genetic Algorithm to Obtain Quasi-Optimum Solutions

    米国機械学会   CD-ROM of DETC DAC34051  2003年09月

  • A Study on Immune Algorithms Considering Interaction of Design with Environment Properties

    米国機械学会   CD-ROM of DETC DAC48802  2003年09月

  • Range Zooming for Genetic Range Genetic Algorithms

    ISSMO   Proc. of WCSMO5  2003年09月

  • Errors in Optimization using the Response Surface Method and Resulting Physical Phenomena

    ISSMO   Proc. of WCSMO5  2003年09月

  • An Examination of Immune Algorithm for Structural and Production Design

    ISSMO   Proc. of WCSMO5  2003年09月

  • A Development of Collaborative Design System using Data Envelopment Analysis

    JSPE Precision Engineering Conference (Spring) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2003年03月

  • データ包絡法を用いた協調設計システムの構築

    日本精密工学会   春季大会講演論文集  2003年03月

  • An application of immune algorithms for job-shop scheduling problems

    T Miyashita

    PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2003)   ISATP2003   146 - 150  2003年  [査読有り]

     概要を見る

    Job-Shop Scheduling Problems (JSSPs) are important problems that decide production scheduling. However these problems are not easy to solve and many studies have been done. Furthermore, in real situation, while doing jobs according to decided schedule, re-scheduling occurs because of new jobs and it is required to decide the schedule considering ability and skills of works.
    In this study, in the stage of the deciding the JSSPs, we will discuss the method to offer the designer several candidates of the JSP and then designers can select the final schedule considering the difficult properties to formulate the problems. Through some numerical examples, we will confirm the effectiveness of the proposed method.

  • Hollow shape extraction: Geometric method for assisting process planning of mold machining

    M Inui, T Miyashita

    PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2003)   ISATP2003   30 - 35  2003年  [査読有り]

     概要を見る

    In the mold part machining, rough milling with large cutters is applied first to efficiently remove excess material, then milling operation with small cutters finishes the mold surface. Large cutters cannot remove sufficient material at hollow shapes of the mold, therefore manufacturing engineers must apply some additional milling operations with medium size cutters prior to the finishing. Process planning of such semi-finishing operations, especially determination of the milling region with large remained material is currently done based on a manual extraction of the hollow shape using the machine drawing. In this paper, the authors propose an algorithm for automating the hollow shape extraction. This algorithm uses the inverse offset computation and milling simulation in the process, which are known very time-consuming. In order to boost the computation speed, the rendering hardware based acceleration technology is introduced. Proposed algorithm is implemented and an experimental system for assisting the process planning of the semi-finishing operation is demonstrated.

  • An application of immune algorithms for job-shop scheduling problems

    Tomoyuki Miyashita

    Proceedings of the IEEE International Symposium on Assembly and Task Planning   2003-   146 - 150  2003年

     概要を見る

    Job-shop scheduling problems (JSSPs) are important problems that decide production scheduling. However these problems are not easy to solve and many studies have been done. Furthermore, in real situation, while doing jobs according to decided schedule, re-scheduling occurs because of new jobs and it is required to decide the schedule considering ability and skills of works. In this study, in the stage of the deciding the JSSPs, we will discuss the method to offer the designer several candidates of the JSP and then designers can select the final schedule considering the difficult properties to formulate the problems. Through some numerical examples, we will confirm the effectiveness of the proposed method.

    DOI

    Scopus

    12
    被引用数
    (Scopus)
  • Hollow shape extraction: Geometric method for assisting process planning of mold machining

    M Inui, T Miyashita

    PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2003)   ISATP2003   30 - 35  2003年  [査読有り]

     概要を見る

    In the mold part machining, rough milling with large cutters is applied first to efficiently remove excess material, then milling operation with small cutters finishes the mold surface. Large cutters cannot remove sufficient material at hollow shapes of the mold, therefore manufacturing engineers must apply some additional milling operations with medium size cutters prior to the finishing. Process planning of such semi-finishing operations, especially determination of the milling region with large remained material is currently done based on a manual extraction of the hollow shape using the machine drawing. In this paper, the authors propose an algorithm for automating the hollow shape extraction. This algorithm uses the inverse offset computation and milling simulation in the process, which are known very time-consuming. In order to boost the computation speed, the rendering hardware based acceleration technology is introduced. Proposed algorithm is implemented and an experimental system for assisting the process planning of the semi-finishing operation is demonstrated.

  • A Study on Collaborative Design Considering Features of Design

    Proc. of ASME 2002 Int. Design Eng. Tech. Conf. and the Comp. and Information in Eng. Conf.   CD-ROM of DETC DAC34051  2002年10月

  • A Study on Collaborative Design Considering Features of Design

    Miyashita, Tomoyuki, Yamakawa, Hiroshi

    米国機械学会   CD-ROM of DETC DAC34051   155 - 159  2002年10月

     概要を見る

    In design processes of machinery, much computer software, for examples CAD/CAE/CAM software, are used. The design processes are aided by this software. The seamless connections of the design processes are necessary for the improvement of the cost benefit of the products. However, sometimes, the conflicts among designs or design processes are occurred by the change of the design at a certain design process and these conflicts are should be noticed and solved immediately. In this research, we have developed the design system including CAD software and the developed system has some functions to find the conflicts of the change of designs and to solve the conflicts. We use Data Envelopment Analysis (DEA) to calculate the efficiency of the design and Satisficing Trade-off Method (STM) to find and solve the conflicts. We have confirmed through some fundamental numerical examples and discussed of the proposed system and method and showed the effectiveness of out study.

  • 2553 免疫システムによる設計最適化に関する研究

    宮下 朋之, 山川 宏, 乾 正知

    年次大会講演論文集 : JSME annual meeting   2002 ( 7 ) 193 - 194  2002年09月

     概要を見る

    Optimization techniques are useful to determine the unknown parameter according to the evaluations of design. This techniques require to be formulated mathematically. Then the indexes that is difficult to express mathematically, for examples "kansei" are difficult to be included in the optimization problems. In this study, we will propose the algorism based on immune algorithms and try to derive some candidates including solution. immune algorithms are considered as the optimization algorithms. However, the immune algorithms are not fully established becase various algorithms are considered and fully investigated. In this study, from above point of view, we will propose the immune algorithm that treates the "antibody-antigen reaction". Through some numerical examples, we will show the effectivenews of th proposed algorithm.

    DOI CiNii

  • A Study on Gradient Based Search Agents in Global Optimization

    Proc. of 10th Symposium on Multidisciplinary Analysis and Opt./AIAA   CD-ROM of MAO, AIAA2002-5508  2002年09月

  • A Generation method for tool path using Inverse Offset Plane

    JSPE Precision Engineering Conference (Autumn) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2002年09月

  • A Discussion on Job-shop Scheduling Problem considering Environment Properties

    JSPE Precision Engineering Conference (Autumn) / JSPE   Proc. of JSPE Conf. (CD-ROM)  2002年09月

  • A Study on Structural Optimization using Immune System

    JSME Mechanical Engineering Congress /JSME   No.02-01  2002年09月

  • A Study on Gradient Based Search Agents in Global Optimization

    米国航空宇宙学会   CD-ROM of MAO, AIAA2002-5508  2002年09月

  • 金型粗加工のための逆オフセット面に基づく工具経路の生成手法

    日本精密工学会   秋季大会講演論文集  2002年09月

  • 多様性を考慮したジョブショップスケジューリングの決定

    日本精密工学会   秋季大会講演論文集  2002年09月

  • 免疫システムによる設計最適化に関する研究

    日本機械学会   機構論No.02-01  2002年09月

  • A study on the collaborative design using supervisor system

    Tomoyuki Miyashita, Hiroshi Yamakawa

    JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing   45 ( 1 ) 333 - 341  2002年03月

     概要を見る

    In recent years, financial difficulties led engineers to look for not only the efficiency of the function of a product but also the cost of its development. In order to reduce the time for the development, engineers in each disciplinary have to develop and improve their objectives collaboratively. Sometimes, they have to cooperate with those who have no knowledge at all for their own disciplinary. Collaborative designs have been studied to solve these kinds of the problems, but most of them need some sorts of negotiation between disciplines and assumed that the negotiation will be done successfully. However, in the most cases of real designs, manager of each disciplinary does not want to give up his or her own objectives to stress on the other objectives. In order to carry out these negotiation smoothly, we need some sort of evaluation criteria which will show efficiency of the product considering the designs made up by each division and if possible, considering the products of the competitive company. In this study, we use Data Envelopment Analysis (DEA) to calculate the efficiency of the design and showed every decision maker the directions of the development of the design. We newly called these kinds of systems as supervisor systems and implemented these systems in computer networks that every decision makers can use conveniently. Through simple numerical examples, we showed the effectiveness of the proposed method.

    DOI

    Scopus

    3
    被引用数
    (Scopus)
  • A study on the collaborative design using supervisor system

    T Miyashita, H Yamakawa

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   45 ( 1 ) 333 - 341  2002年03月  [査読有り]

     概要を見る

    In recent years, financial difficulties led engineers to look for not only the efficiency of the function of a product but also the cost of its development. In order to reduce the time for the development, engineers in each disciplinary have to develop and improve their objectives collaboratively. Sometimes, they have to cooperate with those who have no knowledge at all for their own disciplinary. Collaborative designs have been studied to solve these kinds of the problems, but most of them need some sorts of negotiation between disciplines and assumed that the negotiation will be done successfully. However, in the most cases of real designs, manager of each disciplinary does not want to give up his or her own objectives to stress on the other objectives. In order to carry out these negotiation smoothly, we need some sort of evaluation criteria which will show efficiency of the product considering the designs made up by each division and if possible, considering the products of the competitive company. In this study, we use Data Envelopment Analysis (DEA) to calculate the efficiency of the design and showed every decision maker the directions of the development of the design. We newly called these kinds of systems as supervisor systems and implemented these systems in computer networks that every decision makers can use conveniently. Through simple numerical examples, we showed the effectiveness of the proposed method.

    CiNii

  • Optimum design using search agents

    Miyashita, Tomoyuki, Yamakawa, Hiroshi

    Proceedings of the ASME Design Engineering Technical Conference   2   19 - 26  2001年12月

     概要を見る

    Many optimization methods and practical softwares have been developing for many years and most of them are very effective, especially to solve practical problems. But, non-linearity of objective functions and constraint functions, which have frequently seen in practical problems, has caused a difficulty in optimization. This difficulty mainly lies in the existence of several local optimum solutions. In this study, we have proposed a new global optimization methodology that provides an information exchange mechanism in the nearest neighbor method. We have developed a simple software system, which treated each design point in optimization as an agent. Many agents can search the optima simultaneously exchanging the their information. We have defined two roles of the agents. Local search agents have roles on searching local optima by such an existing method as the steepest decent method and so on. Stochastic search agents investigate the design space by making use of the information from other agents. Through simple and several structural optimization problems, we have confirmed the advantages of the method.

  • 探索エージェントによる最適設計に関する研究

    宮下 朋之, 山川 宏

    日本機械学會論文集. C編   67 ( 662 ) 3227 - 3235  2001年10月

     概要を見る

    Many optimization methods and practical softwares have been developing for many years and most of them are very effective, especially to solve practical problems. But, non linearity of objective functions and constraint functions, which have frequently seen in practical problems, has caused a difficult situation for optimization. This difficulty mainly lies in the existence of several local optimum solutions. In this study, we have proposed a new global optimization methodology that provides an information exchange mechanism in the nearest neighbour method. We have developed a simple software system, which treated each design point in optimization as an agent. Many agents can search the optima simultaneously exchanging the their information. We have defined two roles of the agents. Local search agents have roles on searching local optima by an existing method like the steepest decent method and so on. Stochastic search agents investigate the design space by making use of the information from other agents. Through simple and several structural optimization problems, we have confirmed the advantages of this method.

    CiNii

  • 探索エージェントによる最適設計に関する研究

    日本機械学会   機論(C) No. 67-662  2001年10月

  • Optimum Design Using Search Agents

    Proc. of ASME 2001 Int. DETC and CIE/ASME   (DAC14532)  2001年09月

  • Optimum Design Using Search Agents

    Proc. of ASME 2001 Int. Design Eng. Tech. Conf. and the Comp. and Information in Eng. Conf.   Paper No. DAC14532  2001年09月

  • 免疫エージェントによる最適設計に関する研究

    日本機械学会   No.01-01  2001年08月

  • K-0215 免疫システムによる構造最適化に関する研究(J02-4 ALife他)(J02 設計・解析と最適化・適応化)

    宮下 朋之, 坪田 有玄, 山川 宏

    年次大会講演論文集 : JSME annual meeting   0 ( 1 ) 53 - 54  2001年08月

     概要を見る

    Immune system in mammals plays a significant role on the survival in the case with attacking of various bacteria. This system seems to equip the mechanism eliminate the various vacteria. From the view point of information mechanism, this system could offer the designs that are considered with the environmental situation, for example, wind loads, deterioration and so on. Especially, immune algorithms are considered as the optimization algorithms. However, the immune algorithms are not fully established becase various algorithms are considered and fully investigated. In this study, from above point of view, we will propose the immune algorithm that treates the "antibody-antigen reaction". Through some numerical examples, we will show the effectivenews of th proposed algorithm.

    DOI CiNii

  • A Study on Structural Optimization using Immune System

    JSME Engineering Congress/JSME   No.01-01 (??)  2001年08月

  • データ包絡分析法と設計者の交渉過程を考慮した協調設計システムの開発とその検討

    土木学会    2001年07月

  • 探索エージェントによる多点同時探索戦略を用いた最適設計法に関する研究

    宮下 朋之, 山川 宏

    計算工学講演会論文集   6 ( 2 ) 699 - 702  2001年05月

    CiNii

  • A Study on Optimum Design using Search Agents

    Proc. of JSCES Conf./JSCES   (??)  2001年05月

  • Report of Design Optimization and Satisfaction Research Commitee

    Report of JSCES/JSCES   (??)  2001年05月

  • 「多目的最適化設計・満足化設計」

    日本計算工学会   研究分科会活動報告書  2001年05月

  • 探索エージェントによる多点同時探索戦略による最適設計に関する研究

    日本計算工学会   日本計算工学会講演論文集  2001年05月

  • 協調設計システムの検討−複合領域問題の検討−

    日本機械工学会   機構論 No.00-34, 172-175  2001年03月

  • 2110 協調設計システムの検討 : 複合領域問題の検討

    宮下 朋之, 山川 宏

    設計工学・システム部門講演会講演論文集   2001 ( 10 ) 172 - 175  2001年01月

     概要を見る

    Recent years, computational power has been incresing and designers could discuss design problems from several points of view. In these discussions, simulations using computers could offer useful information to evaluate their designs to develop profitable products exceeding the competitor's product. Optimization methods offer reasonable design canditates. However, in the design in which some technical fields are included, it is difficult to make decision to settle design canditates. In our previous study, we have proposed the method that led designers to collaboration and developed the software system. In this paper, we have examined the developed system through the some design problems.

    CiNii

  • An Examination on Collaborative Design System

    Proc. of Design Eng. and System Conf./JSME   No.00-34 (172-175)  2001年01月

  • A Study on the Optimum Design Using Search Agents

    Tomoyuki Miyashita, Hiroshi Yamakawa

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   67 ( 662 ) 3227 - 3235  2001年

     概要を見る

    Many optimization methods and practical softwares have been developing for many years and most of them are very effective, especially to solve practical problems. But, non linearity of objective functions and constraint functions, which have frequently seen in practical problems, has caused a difficult situation for optimization. This difficulty mainly lies in the existence of several local optimum solutions. In this study, we have proposed a new global optimization methodology that provides an information exchange mechanism in the nearest neighbour method. We have developed a simple software system, which treated each design point in optimization as an agent. Many agents can search the optima simultaneously exchanging the their information. We have defined two roles of the agents. Local search agents have roles on searching local optima by an existing method like the steepest decent method and so on. Stochastic search agents investigate the design space by making use of the information from other agents. Through simple and several structural optimization problems, we have confirmed the advantages of this method. © 2001, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI

    Scopus

  • An examination on the supervisor system in multidisciplinary design optimization under conflict objects

    Miyashita, Tomoyuki, Miyashita, Tomoyuki, Yamakawa, Hiroshi, Yamakawa, Hiroshi

    8th Symposium on Multidisciplinary Analysis and Optimization    2000年12月

     概要を見る

    In the design of products, the designers often have to improve some objects and to satisfy some constraints. Furthermore, these days, it is more important than before to design and develop the products shortly and to commercialize the products for the profit. These needs time-consuming decision-makings and we often treat this problem as multi-objective design problems. However it is difficult for the designers who have no knowledge of the other disciplines when to decide the design collaboratively. Therefore, in this paper, we proposed a method to show some compromise to the designers and developed a system operated through computer network. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

  • 119 ネットワークを利用した協調的最適設計システムの構築及び検討 : 満足化トレードオフ法の適用

    宮下 朋之, 山川 宏

    最適化シンポジウム講演論文集   2000 ( 4 ) 205 - 210  2000年10月

     概要を見る

    Recent years, financial difficulties led engineers to look for not only the efficiency of the function of a product but also the cost of its development. In order to reduce the time for the development, engineers in each discipline have to develop and improve their objectives collaboratively. Sometimes, they have to cooperate with those who have no knowledge at all for their own disciplines. Collaborative designs have been studied to solve these negotiations will be done successfully. However, in the most cases of real designs, manager of each discipline does not want to give up his or her own objectives to stress on the other objectives. In order to carry out these negotiations smoothly, we need some sort of evaluation criteria which will show efficiency of the product considering the designs by each division and if possible, considering the products of the competitive company, too. In this study, we use data Envelopment Analysis (DEA) to calculate the efficiency of the design and showed every decision maker the directions of the development of the design. We will call here these kinds of systems as supervisor systems and implemented these systems in computer networks that every decision maker can use conveniently. Through simple numerical examples, we showed the effectiveness of the proposed method.

    CiNii

  • An Examination and A Development of the Collaborative Optimization System on Computer Network

    Proc. of System Optimization Symposium   (205-210)  2000年10月

  • ネットワークを利用した協調的最適設計システムの構築及び検討

    日本機械学会   最適化シンポジウム講演論文集 205-210  2000年10月

  • An Examination on the Supervisor System in the Multidisciplinary Design Optimization under Conflict Objectives

    Proc. of 8th Symposium on Multidisciplinary Analysis and Opt./AIAA   (AIAA2000-4724)  2000年09月

  • A Study on the Collaborative Design Using Trade-off Satisficing Method

    Proc. of ASME 2000 Int. DETC and CIE /ASME   (DAC21011)  2000年09月

  • A Study on the Collaborative Design Using Trade-off Satisficing Method

    Proc. of ASME 2000 Int. Design Eng. Tech. Conf. and the Comp. and Information in Eng. Conf.   Paper No. DAC21011  2000年09月

  • An Examination on the Supervisor System in the Multidisciplinary Design Optimization under Conflict Objectives

    Proc. of 8th Symposium on Multidisciplinary Analysis and Opt.   Paper No. AIAA2000-4724  2000年09月

  • An Examination on Structural Optimization using Immute Agents

    JSME Mechanical Engineering Congress/JSME   (151-152)  2000年08月

  • 免疫エージェントによる最適設計に関する研究

    日本機械学会   機講論 No.00-01,151-152  2000年08月

  • 520 免疫エージェントによる最適設計に関する検討 : 抗原-抗体反応の検討

    宮下 朋之, 坪田 有玄, 山川 宏

    年次大会講演論文集 : JSME annual meeting   2000 ( 1 ) 151 - 152  2000年07月

     概要を見る

    We, human being, have survived and prosperd in a biological systems and an immute system plays a significant roll in protecting us against foregin bacillus. From the results of the study field in information processing, it is pointed out that the immute system is capable of learning, memory, pattern recognition and optimization using genetic operators. In the optimization of mechanical and structural designs, an environment of products is significant factor to decide the design. In this study, we will treate the design variables in the optimization problem as antibody and the environment as the antigen. We treated simple numerical examples and they resulted the design stored in memory-cell with best evaluation and worst evaluation considering environment. We have confirmed that the design canditates including the design obtained by mathematical programming are found among the results.

    DOI CiNii

  • Collaborative Optimization in Structural Design using Trade-Off Satisficing Method

    Proc. of MCDM/MCDM   (104)  2000年07月

  • Collaborative Optimization in Structural Design using Trade-Off Satisficing Method

    Abstract of 15th MCDM Conf.    2000年07月

  • A Study on Multi-Objective Optimization using Supervise System

    MPS Symposium/IPSJ   (165-172)  2000年03月

  • スーパバイズシステムによる多目的最適化に関する研究

    情報処理学会 MPSシンポジウム 講演論文集/情報処理学会   No.99-27  2000年03月

  • スーパバイズシステムを用いた協調設計に関する研究

    日本機械学会 論文集/日本機械学会   66-643C  2000年03月

  • A Study on the Collaborative Design using Supervisor System

    Tomoyuki Miyashita, Hiroshi Yamakawa

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   66 ( 643 ) 921 - 928  2000年

     概要を見る

    In recent years, financial difficulties led engineers to look for not only the efficiency of the function of a product but also the cost of its development. In order to reduce the time for the development, engineers in each disciplinary have to develop and improve their objectives collaboratively. Sometimes, they have to cooperate with those who have no knowledge at all for their own disciplinary. Collaborative designs have been studied to solve these kinds of the problems, but most of them need some sorts of negotiation between disciplines and assumed that these negotiation will be done successfully. However, in the most cases of real designs, manager of each disciplinary does not want to give up his or her own objectives to stress on the other objectives. In order to carry out these negotiation smoothly, we need some sort of evaluation criteria which will show efficiency of the product considering the designs made up by each division and if possible, considering the products of the competitive company. In this study, we use Data Envelopment Analysis (DEA) to calculate the efficiency of the design and showed every decision maker the directions of the development of the design. We newly called these kinds of systems as supervisor systems and implemented these systems in computer networks that every decision makers can use conveniently. Through simple numerical examples, we showed the effectiveness of the proposed method. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI

    Scopus

    6
    被引用数
    (Scopus)
  • エージェントアプローチによる構造最適化・満足化に関する研究

    宮下 朋之, 山川 宏

    日本機械学會論文集. C編   65 ( 640 ) 4589 - 4596  1999年12月

     概要を見る

    In recent years, multi-agent architectures which have been studied in the field of artificial intelligence might attract a great deal of attention to the ability of the cooperative properties for engineering. In this study, we proposed a new approach to find the improved design in the layout design and shape design problems of framed structures by applying the multi-agent architectures. We considered each agent as an element in Finite Element Analysis and proposed modification rules for the layout shape of the structure. Following this approach, each agent proposes modification plans based on his or her evaluate function. The proposed plans are picked up or rejected by communication among agents and the remained plans may improve a design created from an initially simple structure. We developed the simulation system running on the UNIX and considerations have been given to the simple truss structural design and some advantages of the proposed have been shown and confirmed.

    CiNii

  • マルチエージェントによる最適設計に関する研究

    日本機械学会 論文集/日本機械学会   65-641C  1999年12月

  • A Study on the Collaborative Optimization Using a Supervisor System

    Proc. of CJK-OSM1/JSME,KSME   (501-508)  1999年11月

  • A Study on the Collaborative Design using Supervise Agents

    Proc. of Design Eng. and System Conf./JSME   No.99-27(134-137)  1999年11月

  • An Examination and Development of Multidisciplinary Design System

    Proc. of Design Eng. and System Conf./JSME   No.99-27(142-145)  1999年11月

  • 複合領域設計システムの構築と検討

    日本機械学会 講演論文集/日本機械学会   No.99-27  1999年11月

  • スーパバイズエージェントによる協調設計に関する研究

    日本機械学会 講演論文集/日本機械学会   No.99-27  1999年11月

  • A Study on the Collaborative Optimization using a Supervisor System

    第1回 構造最適化に関するシンポジウム論文集/日本機械学会他   Vol.1  1999年11月

  • An Examination on the Optimum Design by Search Agents With Multi-Start Search Strategy

    JSME Mechanical Engineering Congress /JSME   No.00-01 (555-556)  1999年07月

  • An Examination on the Multidisciplinary Design Optimization System

    Proc. of Design Symp./JSME   (69-76)  1999年07月

  • 複合領域最適化における設計支援システムに関する検討

    設計シンポジウム99講演論文集/設計工学会他    1999年07月

  • 多点同時探索戦略を用いた検索エージェントによる最適設計に関する研究

    日本機械学会 講演論文集/日本機械学会   No.99-1  1999年07月

  • A Study on the Optimum Design Applying Multi-Agent architecture

    Proc. of World Congress of Struct. and Multidisciplinary Opt./ISSMO   Vol.1 (578-580 and CD-ROM)  1999年05月

  • A Study on the Optimum Design Applying Multi-Agent architecture

    Proc. of World Congress of Struct. and Multidisciplinary Opt./ISSMO   Vol.1 (578-580 and CD-ROM)  1999年05月

  • Function of gene in adaptive range genetic algorithms

    M Arakawa, W Shiraki, T Miyashita, H Ishikawa

    OPTIMIZATION OF STRUCTURAL AND MECHANICAL SYSTEMS, PROCEEDINGS   (141-148)   141 - 148  1999年  [査読有り]

     概要を見る

    Application of genetic algorithms to mixed design variable optimization has received wide recognition. However, there are some problems in expressing continuous number in GAs, and according to that, applications to mixed variables has not been successful as it recognized. We have developed Adaptive Range Genetic Algorithms and overcome most of the difficulties in expressing continuous and discrete numbers in Genetic Algorithms and obtain the best results in some simple bench mark problems. Key success lies in the adaptation of searching range according to the situation of generation and existence of gene. And this conclusion is different from what they said in Evolution Algorithms (EAs). In EAs, they use continuous number directly to chromosome and made up some rules in crossing over. They ignore the existence of gene to treat design variables. If their keys in success lie in the expression of continuous numbers, we thought existence of gene in ARange GAs will influence badly in its convergence. From this stand point view, we will examine the necessity of gene in GAs and compare the results that are obtained from one of the EAs method called BLX alpha method. From these comparisons, even though we do not use the information of population in the generation, we have obtained better convergence, because gene will give some deterministic value in each generation and combination of parents. In that sense, BLX alpha method is something like random search and it only happened to find good solution. Thus, we can say that gene will introduce some sorts of deterministic characteristics in genetic search and it will distinguish GAs from just random search technique. From this conclusion we intend to say the needs of gene in GAs.

  • Function of gene in adaptive range genetic algorithms

    M Arakawa, W Shiraki, T Miyashita, H Ishikawa

    OPTIMIZATION OF STRUCTURAL AND MECHANICAL SYSTEMS, PROCEEDINGS   Vol.1   141 - 148  1999年  [査読有り]

     概要を見る

    Application of genetic algorithms to mixed design variable optimization has received wide recognition. However, there are some problems in expressing continuous number in GAs, and according to that, applications to mixed variables has not been successful as it recognized. We have developed Adaptive Range Genetic Algorithms and overcome most of the difficulties in expressing continuous and discrete numbers in Genetic Algorithms and obtain the best results in some simple bench mark problems. Key success lies in the adaptation of searching range according to the situation of generation and existence of gene. And this conclusion is different from what they said in Evolution Algorithms (EAs). In EAs, they use continuous number directly to chromosome and made up some rules in crossing over. They ignore the existence of gene to treat design variables. If their keys in success lie in the expression of continuous numbers, we thought existence of gene in ARange GAs will influence badly in its convergence. From this stand point view, we will examine the necessity of gene in GAs and compare the results that are obtained from one of the EAs method called BLX alpha method. From these comparisons, even though we do not use the information of population in the generation, we have obtained better convergence, because gene will give some deterministic value in each generation and combination of parents. In that sense, BLX alpha method is something like random search and it only happened to find good solution. Thus, we can say that gene will introduce some sorts of deterministic characteristics in genetic search and it will distinguish GAs from just random search technique. From this conclusion we intend to say the needs of gene in GAs.

  • A Study on the Optimum Design Applying Multi-Agents Architecture

    Tomoyuki Miyashita, Hiroshi Yamakawa

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   65 ( 640 ) 4589 - 4596  1999年

     概要を見る

    In recent years, multi-agent architectures which have been studied in the field of artificial intelligence might attract a great deal of attention to the ability of the cooperative properties for engineering. In this study, we proposed a new approach to find the improved design in the layout design and shape design problems of framed structures by applying the multi-agent architectures. We considered each agent as an element in Finite Element Analysis and proposed modification rules for the layout shape of the structure. Following this approach, each agent proposes modification plans based on his or her evaluate function. The proposed plans are picked up or rejected by communication among agents and the remained plans may improve a design created from an initially simple structure. We developed the simulation system running on the UNIX and considerations have been given to the simple truss structural design and some advantages of the proposed have been shown and confirmed. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI

    Scopus

  • 数式処理システムを用いた最適設計に関する研究

    宮下 朋之, 山川 宏

    日本機械学會論文集. C編   57 ( 541 ) 2959 - 2964  1991年09月

     概要を見る

    In conventional optimum design process, symbolic formulation of mathematical optimization problem usually must be done by the designers before numerical computation. And these pre-process tasks are sometimes tremendously hard and time consuming for the designers. In this paper, we will show a simplification of these pre-process tasks with an aid of symbolic manjpulation systems which have been studied in the field of Artificial Intelligence. In almost existent symbolic manipulation systems, their main purposes being stressed on verifying the expression, the computer programs in the systems could not obtain any information directly from the operator during the excuting of the program. In this study, to reduce this disadvantage we use menu system as interactive computer system to define and decide the objective function and constraints freely. And, we applied a symbolic manupulation system to a formulation of the objective function and the constraints as well as to structural analysis by Energy method. Consideration have been given to the obtained optimum designs and the effectiveness was confirmed.

    CiNii

  • 数式処理システムを用いた最適設計に関する研究

    宮下朋之, 山川宏

    日本機械学会 論文集C編   57-541C   2959 - 2964  1991年03月  [査読有り]

▼全件表示

書籍等出版物

  • エンジニアリングデザイン(第3版)-工学設計の体系的アプローチ-

    G. Pahl, W. Beitz, J. Feldhusen, K.H. Grote, 宮下朋之

    森北出版  2015年02月

  • 最適化ハンドブック

    最適化ハンドブック

    朝倉書店  2003年03月

Misc

  • 操作負荷と手術精度を考慮した腹腔鏡下手術システムの人間工学的評価

    下前快喜, 三浦智, PARQUE Victor, 宮下朋之

    日本コンピュータ外科学会誌   22 ( 4 (Web) )  2020年

    J-GLOBAL

  • カテーテル伸展システムの直感的操作に関する研究

    浜島 基, 三浦 智, ヴィクター パルケ, 宮下 朋之

    ロボティクス・メカトロニクス講演会講演概要集   2018 ( 0 ) 1P1 - E03  2018年

     概要を見る

    &lt;p&gt;Catheter ablation is a method to treat arrhythmias which is an abnormal contractile movement of the myocardial. While this treatment is minimally invasive, it may lead to complications such as vascular injury, cardiac puncture and cardiac tamponade. The cause of this problem is considered as the difficulty for the surgeon to intuitively operate the catheter tip. To improve accuracy of catheter ablation treatment, we developed a master-slave system that considers the structure of a human wrist for surgeons to operate a catheter remotely. A master and a slave robot made it possible to operate the catheter in 2 DoF which is the inserting and the twisting operation. Two experiments were carried out, which is to determine the insertion displacement of the slave robot and to obtain the correspondent relationship between the master and the slave robot.&lt;/p&gt;

    CiNii

  • 前腕義手の上腕カフにおけるコンプライアントメカニズムの最適化設計

    菊池 宏太郎, 三浦 智, Victor Parque, 宮下 朋之

    生体医工学   55 ( 3 ) 177 - 177  2017年

     概要を見る

    &lt;p&gt;前腕義手を懸垂する上腕カフにおいて,マジックテープやバックル式ベルト等が締止構造として用いられている.しかしながら操作が煩雑であり,ベルトの一部を引張って締め付けるため圧力分布が不均一になり,褥瘡となる可能性がある.この問題に対して,半径方向に全体的に締め付けることによる圧力分散の改善を考えた.巨視的なポアソン比が負の構造をリング状にすることにより,軸方向への圧縮という単純な動作によって,半径方向への全体的な締め付けが可能となり,圧力分散の改善が期待できる.本研究においては,上腕カフへの適用を想定し,最適化設計したポアソン比が負のコンプライアントメカニズムによる締止構造の,従来の締止構造に対する圧力分散の優位性を検証した.最適化の初期形状として,寒野氏が提案した二種類の構造を基に,リング構造に円筒軸方向に強制変位を加え,構造中央部の半径方向変位を最大化する寸法最適化を行った.リング構造の収縮実験を行い,レーザ変位計で構造中央部の半径方向変位を測定し,最適化結果と実験値の整合性を確認した.次に,円柱の上腕モデルに対して締め付けた時の内圧を圧力センサにより測定し,圧力分散について変動係数を用いて従来の締止方式と比較した.これにより,周方向の圧力分散に関して,コンプライアントメカニズムによる締止構造によって優位性が得られることを確認した.&lt;/p&gt;

    DOI CiNii

  • 熱伝導率の多孔質モデル化による肺の熱伝導の基礎的検討

    山崎望, 渡辺広樹, 磯部洋祐, LU XiaoWei, 小林洋, 宮下朋之, 藤江正克

    ロボティクスシンポジア予稿集   18th   82 - 87  2013年03月

    J-GLOBAL

  • 肝がんラジオ波焼灼療法における組織凝固領域提示システムの開発(肝臓組織の粘弾性の温度依存性のモデル化)

    LU Xiaowei, 築根まり子, 渡辺広樹, 小林洋, 宮下朋之, 藤江正克

    日本機械学会論文集 C編(Web)   79 ( 807 ) WEB ONLY 4381-4388  2013年

    DOI J-GLOBAL

  • 胎児気管閉塞術における気管負荷状態の有限要素解析

    小林洋, 黒住和広, ZHANG B, 星雄陽, 宮下朋之, 絵野沢伸, 千葉敏雄, 渡邊忠男, 須藤薫雄, 藤江正克

    日本生体医工学会大会プログラム・論文集(CD-ROM)   50th   ROMBUNNO.OS3-9-6  2011年

    J-GLOBAL

  • 切除平面を考慮した協調最適化法に関する検討(設計と最適化III)

    宮下 朋之, 乾 正知

    設計工学・システム部門講演会講演論文集   2004 ( 14 ) 209 - 212  2004年11月

     概要を見る

    In design processes, designers have to propose many design alternatives to satisfy requirements for products and evaluate considering many features or properties of design. Then a final design should be decided from many discussion and evaluation. In these processes, conflicts among designs can be often seen and sometimes designes take time to solve conflicts through discussion and so on. The Multi-objective optimization techniques are useful to consider trade-off between conflict properties. However, in these techniques, unification of objective functions is necessary and in almose case, unification function with weights that should be decided before optimization is used. In this study, we have extend previous proposed evaluation method of designs using cutting plane for weights in Data Envelopment Analysis and evaluated its effectiveness through some numerical examples.

    CiNii

  • 1310 分散したモデルの統合と協調設計に関する研究

    宮下 朋之, 乾 正知

    設計工学・システム部門講演会講演論文集   2002 ( 12 ) 135 - 137  2002年11月

     概要を見る

    The various information is treated in design processes by many designers. In the design of complicated machinary, designers often treat information and make various decision for the design. Recent years, computational power has been increasing and designers could discuss design problems from several points of view. Optimization methods offer reasonable design canditates from the early stage of design. However, in the discussion from several points of view, the unification of the distributed models is useful and it is difficult to make decision to settle design canditates. In the unification of the models, the overlap of the information often occures. In this study, we will develop the database that treats the overlap of the information and apply the developed system for the collaborative design. Through simple numerical examination, we will confirm the effectiveness of the developed system.

    CiNii

  • 3108 ネットワークを用いた分散設計環境の構築と基礎的検討

    宮下 朋之, 乾 正知

    設計工学・システム部門講演会講演論文集   2002 ( 12 ) 398 - 401  2002年11月

     概要を見る

    In design of machinary, computers are very useful and many jobs are aided by computer system and treated more efficient than before. Under recent sever economical environment, cost-benefit becomes important and many computer systems are developed for the sake to do jobs efficiently. Computer networks is the result of the ARPA project and now, this becomes important infrastructure. The success of the design system using computer networks becomes the key-point of the success of the bussiness and design of the product. In this fundamental examination, the authors have developed the design system for the design optimization under computer networks and tried to apply for the simple numerical examples.

    CiNii

  • 3402 近似最適化における近似精度を考慮した多目的設計支援に関する研究(OS03/近似最適化)

    宮下 朋之, 山川 宏

    設計工学・システム部門講演会講演論文集   2001 ( 11 ) 331 - 334  2001年11月

     概要を見る

    In optimization algorithms, the value of design variables are updated according to some criterion and it is nesessary to evaluate objective functions and constraints repeatedly if design variables are updated. In design problems, performances are often taken as the objective functions or constraints and it needs a time to evaluate the performances. A same situation is observed in the multi-objective optimization problems that can handle several objective function simultaneously and is suitable for the real design. Therefore it is desiable to decrease the number of evaluation count of the objective function and constrains. The response surface methodology is helpful for such a situation and many studies have been done. In real design problems, nonlineality of the objective function and constraints can been seen and this make the objective function or constraints the complex form about the design variables. On the other hand, in the mult-objective optimization problems, we have to calculate the pareto optimal set that could not be defined the inferiority or supriority among the solutions. The pareto optimal set forms the hyper plane in objective function space and the sensitivity of this plane make us to be able to do the trade-off analysis among the objective functions. The difficulty to obtain pareto optimal set could be seen in calculation because of the nonlinearity of the objective function and constraints. That is, it seems to be difficult to fund some part of pareto optimal set in probablistic method. In this study, we will approximate the pareto optimal set using response surface methodology and identify the region that needs evaluation. Through numerical example, we will discuss the fundamental charastaristics of the proposed method

    CiNii

▼全件表示

産業財産権

  • 冷却器、半導体モジュール

    宮下 朋之, 立石 義博, 沼田 俊介

    特許権

  • 冷却器

    宮下 朋之, 立石 義博

    特許権

  • 遠隔操作用入力システム及び手首動作検出装置

    三浦 智, 上原 瑠哉, 菅野 重樹, 藤江 正克, 宮下 朋之

    特許権

  • 展開型車輪及びこれを利用した走行装置

    宮下 朋之, 江口 航平, 三浦 智

    特許権

受賞

  • IEEE ISATP2003 Best Paper Award

    2003年07月  

  • 日本計算工学会奨励賞

    2003年05月  

共同研究・競争的資金等の研究課題

  • ヒトの身体性に柔軟に協調するインタフェースの制御手法の構築

    研究期間:

    2020年04月
    -
    2023年03月
     

  • 宇宙大型膜面上の通信システム構築を目指した電波-構造同時最適設計手法の構築

    研究期間:

    2018年04月
    -
    2021年03月
     

     概要を見る

    これまで弾塑性の定式化を用いた薄膜フィルムの面内外変形は1次元での表現に留まっていたが,これを板要素に拡張して二次元化した.その際,皺や折り目の判断には張力場理論によるWrinkle Intensityを用いた定義を導入し,折り目の位置とWrinkle Intensityの関係性を調査した.皺を解消するために必要なエネルギーが折り目を境にした2つの領域で等しくなる時に皺を最も減らすことができる事を明らかにした.これは研究の柱である「膜・ブーム展開後の形状制度の保持を目指した膜面構造に関する設計」の部分の成果として挙げられる.上述の条件を満足するように膜面システムを配置していくという設計指針を得た事になる.またもう一つの研究の柱である「複合的大型宇宙膜面構造物の設計法の提案」として,パネル構造である形状遷移型の観測衛星の最新形態に対し,マイクロ波の反射による全体ビームパターンの影響を調査した.実際の宇宙ミッションに,これまで着目されてこなかった構造―電波の相互作用に関する知見を与える事ができたという点は評価のできるポイントであると考える.また,このような構造が薄型化していく事を考えた時に,パッチアンテナの誘電体が質量のほとんどを占めるために,この部分の軽量化,および支持構造部である膜面の影響を受けにくくするためのアンテナじたいの適応構造化を考える必要性が浮上した.当初の予定ではなかったが最も質量を占める誘電体の軽量化と機能化を見据えたアンテナじたいの設計にフォーカスする必要性、および材料にも機能化を求めて国際連携による解決を模索するに至り,研究の幅を広げるという点で実りのある成果があったと考える.本年度はキーポイントとなる技術を、宇宙ミッションに適用していく中で、新しく考えるべき技術課題が浮き彫りになった.SMA+パッチアンテナによる電波特性および膜面構造特性の両立を目指す当初の予定とは異なるが,パッチアンテナじたいの電波―構造特性の両立を目指し,かつ当初はSMAに期待した適応構造性を,パッチアンテナじたいに取り込む事を考える方向性は全く無関係であるわけではない.これに取り組んだ上で,低周波数を対象とするSMAアンテナによるビーム成形性を考える事がアンテナ―構造の設計で踏むべき手順であると判断した.このように大型宇宙膜面構造の設計に関して必要となる技術に着実に取り組む筋道を得た事は歓迎すべき事であると考える.さらに国際専門家会議において,この潮流が見え始めている事と,関連の研究者たちとの議論によってこの必要性が認識されたことも,この研究の意義を固めるに足るものと考える.引き続き,構造変態およびワイヤレス通信による宇宙ミッションの多様性を実現するための軽量構造,つまり膜面の設計手法の確立を行う.次年度はアンテナじたいの誘電体配置問題と剛性配置問題の観点から構造特性およびアンテナ特性の同時最適設計の定式化を行う.また,SMPを用いる事によって適応構造化をはかる。さらにその製作手法の確立を行ったうえで解析および実験による比較検討を行う

  • 超大型宇宙構造物を実現する紛体成形技術の構築

    研究期間:

    2017年06月
    -
    2019年03月
     

     概要を見る

    大型の宇宙構造物は、ロケットなどの輸送手段の制約より、部品状の組み立て手順が一般的である。しかしながら、粉体・液体などの輸送に適した形状を柔軟に変更できる状態で輸送し宇宙空間において剛性付与が可能とすることにより、大型宇宙構造物の構築が効率的となる。本研究では、宇宙空間における粉体の成型技術の構築を目的に、導電性材料やスーパーエンジニアリング・プラスチックの一種であるポリエーテルイミドを使用した真空中・熱荷重が作用する環境において構造物を作成する技術を実証及び検討した。宇宙環境において制作することにより強度面において約1割程度の向上が見られた。宇宙環境における材料積層技術は効率的な製造様式として期待できるが、制作上の困難となる点や制作した材料の特性および構造の特性が不明である。本研究では、このような観点から、宇宙空間における環境を模擬し、付加製造技術を真空環境及び輻射熱が入力される環境において構築し、実際に製造実験を実施した。材料特性について各種の試験を実施し、結晶の大きさに相違がみられるなど、特徴的かつ有用な知見を得ることができた

  • 曲面形状膜面のらせん折りによる新たな折り畳み技法と展開特性の把握

    研究期間:

    2016年04月
    -
    2018年03月
     

     概要を見る

    申請者が考案した曲面形状の膜面の収納技術について、いくつかの取り組みを実施した。(1)パラボラ形状を対象にアンテナとしての用途や収納方法を検討した。(2)膜厚を可変として取り扱うことの特性を生かして、面上敷設物の存在を考慮した収納を実現した。また、パネル状の形状も厚みの考慮により収納可能とした。発展して板状構造物へのミウラ折技法の適用方法を新たに考案した。(3)収納した膜面の展開挙動を力学的な側面より机上検討を可能とした。(4)らせん折と蛇腹折を複合した収納技法を平面および曲面の膜面に対して数学的に定式化して実験により検証した。(5)新たな用途として、絆創膏、エアバックなどへの適用を検討した

  • 臓器の詳細な熱力学・電磁気学モデルを規範とした生体モデルベース熱制御手法の構築

    研究期間:

    2013年04月
    -
    2015年03月
     

     概要を見る

    本研究は近年注目されているがんの低侵襲治療ラジオ波焼灼療法の治療精度の向上を目指して,高精度な生体熱力学モデルと電磁気学モデルに基づく数値計算アルゴリズムとモデルベース制御手法を用いた焼灼支援システムを提案する.従来,術中に焼灼状態を把握できず治療効果が医師の経験に依存する課題に対して,高精度数値計算モデルを用いて焼灼中に定量的に組織の温度分布を可視化しつつ,組織の温度分布情報に応じた適切な電磁波出力を制御する自律焼灼支援システムを開発した.今後提案システムを用いて焼灼中に組織の焼灼状態を提示しつつ組織の焼灼状態に応じた焼灼支援を行うことで熱治療の治療精度の向上に貢献できると期待する

  • 柔軟で簡単に装着可能な服型ウェアラブルロボットの開発

    研究期間:

    2012年04月
    -
    2014年03月
     

     概要を見る

    近年少子高齢化といった社会的背景から,高齢者の仕事・生活を支援することを目的として,外骨格ロボットの開発が進められている.しかし,外骨格ロボットは,装着までの時間の長さ,装着感の硬さ,高価であることなど,一般の方には敷居が高いロボットであり,現在運用が進められているリハビリテーション分野における「特殊な人・用途のための特殊なロボット」であるといえる.そこで本研究では,形状記憶合金(SMA)アクチュエータを服に組み込むことで,「手軽に,装着するのみで」,日常動作の支援を実施できる支援機器を開発することを目的とする.麻痺患者の階段昇段時の支援を対象として,ハードウェアとソフトウェアの検討を行った

  • 癌凝固メカニズムの医工学的解明と癌形態に応じた電磁場熱凝固治療システムの開発

    研究期間:

    2011年05月
    -
    2014年03月
     

     概要を見る

    本研究は肝癌の熱治療の治療精度の向上を目標とし,施術中の精確な肝臓の凝固状態を術者に提供する「凝固領域に応じた温度分布シミュレータ」の開発を目的とした.シミュレータを構築するために,工学的アプローチと生物学的アプローチによる凝固メカニズムの解明に重点を置いた.まず,工学的アプローチとして肝臓組織の粘弾性の温度依存性をモデル化し,組織の粘弾性の変化により凝固と非凝固の境界を導出した.次に,生物学的アプローチとして焼灼された組織の切片を微視的に観察し,凝固領域に影響する焼灼条件を導出した.最後に,肝癌の熱治療に対応した数値計算モデルを構築し,焼灼時の温度分布を提示できるシミュレータを開発した

  • 高精度乳がん治療支援システムの開発

    研究期間:

    2010年04月
    -
    2013年03月
     

     概要を見る

    本研究では,近年乳がんの低侵襲治療法として注目されているラジオ波焼灼療法を対象として,治療精度を向上させるために乳がんラジオ波焼灼療法を支援するシステムを開発した.本システムは主に(1)高精度温度分布シミュレータと(2)最適な穿刺プロセスで構成されている.温度分布シミュレータの開発において,動物を用いた精度評価実験では,温度分布シミュレータの解析結果と組織の実測結果の差が4.0℃以内に収まり,温度分布シミュレータが高精度を実現したことを確認した.最適な穿刺プロセスの導出においては,乳房に埋め込んだ模擬がんに最適に穿刺するための穿刺条件を導出した

  • マルチエージェントによる設計統合化システムの研究

     概要を見る

    本研究では,複雑な機械システムの統合化を比較的容易にするために人工知能分野で注目されているエージェント技術を活用した統合化システムの開発を,ロボットマニピュレータの開発・設計・生産といったモデルを考え,実験も交えながら検討した.1999年度は,設計の統合化を図るために必要な技術の詳細な調査を行い,新たな協調設計法を提案しソフトウエアシステムを開発した.開発システムにおいて,提案手法の基礎的な検討を行い,設計者間の合意形成を促し,協調的に設計候補を絞ることが可能であるとの見解を得た.また,ロボットマニピュレータにおける動力学的な解析・制御法に関する検討を行い,その設計を行う場合に複数の目的を統合して取り扱うことが重要であり,有用であることを明らかにした.さらに,汎用的に商用の解析ソフトウエアを統合可能にするソフトウエアを開発した.2000年度はそれらを統合し検討を進めた.さらに検討を行い以下のような点が明らかになった.統合化された設計問題においては,どのように妥協を形成し、早期に性能が良い設計案を定めるかが重要となる.妥協を形成するためには,積極的な情報提示による妥協形成が有用であり提示手法の有効性を確認した.特に各領域の状況を認識・推測し,他の技術領域と調整を行うエージェントの構築が有用であることが認められた.昨年度に実現したコンピュータネットワークを介して解析ソフトウエアを利用する機構を利用することにより,機構設計,構造設計,軌道設計,制御系設計を統合した規模が比較的大きい設計問題に対して設計が効率的に進められることが認められた.特に競合する設計指標が存在する場合に有効であることが明らかになった.機構設計,構造設計,軌道設計,制御系設計を複合した設計を行い,そこで得た設計解に従い機器製作を行い理論設計と近い性能を発揮できることを確認し,本研究の有効性を実験により確認した

  • レンダリング・ハードウェアによる製造支援ジオメトリ処理の超高速化

     概要を見る

    われわれは,切削加工の自動化に関するジオメトリ処理が,多面体のレンダリング処理と共通する性質を持つことに着目し,グラフィックス・ボード上のGPUの機能を用いて,これらの計算を桁違いに高速化する技術について研究を進めてきた.このGPUによる高速化手法は,切削加工以外のジオメトリ処理の高速化にも有効である.本研究では,製造支援のための様々な問題解決アルゴリズムをポリゴンの描画問題に置き換え,GPUの機能を用いて解を高速に導出する技術について研究をおこなった.GPUは今も進化を続けており,高度な計算機能が次々に組み込まれ,ムーアの法則を超えるスピードで性能向上が進んでいる.したがってこの技術を用いたソフトウェアは,グラフィックス・ボードを交換するだけで,容易に数倍の高速化を実現できる.またこの手法では,画像を描くことで解を得るので,数値誤差による処理の破綻が生じにくい.この技術の利用法について豊富な経験を有する国内の研究者4名が集まり研究を進めた結果,GPUを用いた製造支援のための幾何処理技術に関して,幾つかの有用な基盤技術を実現し,さらにこの分野の研究の今後とるべき方針を明らかにした.具体的には,以下の成果をあげることができた.(1)本技術に基づくCAMシステムの実用化に成功し企業でその有効性の評価を行った.(2)金型製造の工程設計自動化に必要な技術の検討を行い,その基盤となる加工領域の抽出技術を実現した.(3)自由曲面の生成やその品質評価を,GPUの機能を用いて行う技術を開発した.(4)製造支援の分野以外でも,複雑な幾何処理をGPUの機能を用いて実現するアルゴリズムを開発し,その性能評価を行った.いずれの分野でも,従来数時間かかっていた処理を数分にまで短縮する超高速なソフトウェアを開発することができた

▼全件表示

講演・口頭発表等

  • 伸展マスト構造でのサーマルスナップ現象における摩擦特性に関する研究

    清水駿之介, 石村康生, 宮下朋之

    第62回宇宙科学技術連合講演会  

    発表年月: 2018年10月

  • 多重らせん折り膜面に関する研究

    須崎航, 宮下朋之, 名取通弘

    第62回宇宙科学技術連合講演会  

    発表年月: 2018年10月

  • Benchmarking Deep Learning Models on Prosthetic Hand State Recognition

    宮下 朋之

    電気学会 電子・情報・システム部門大会  

    発表年月: 2018年09月

  • 月面洞窟内のサンプル採取を目指したパラメータ励振による振動制御に関する研究

    三浦智, 熊井雅人, Parque Victor, 宮下朋之

    日本機械学会ロボティクス・メカトロニクス講演会(ROBOMECH2018)  

    発表年月: 2018年06月

  • カテーテル伸展システムの直感的操作に関する研究

    浜島基, 三浦智, Parque Victor, 宮下朋之

    日本機械学会ロボティクス・メカトロニクス講演会(ROBOMECH2019)  

    発表年月: 2018年06月

  • 階層モジュラー型宇宙構造物の自己構築システムに関する研究

    長谷川翔一, 三浦智, Parque Victor, 宮下朋之

    日本機械学会ロボティクス・メカトロニクス講演会(ROBOMECH2020)  

    発表年月: 2018年06月

  • 構造物の位相最適化における荷重伝達指標Ustar (U*)の適用,(1) 荷重伝達指標Ustar (U*) を考慮したレベルセット法

    宮下 朋之

    日本機械学会 IIP2018 情報・知能・精密機器部門(IIP 部門)講演会  

    発表年月: 2018年03月

  • 構造物の位相最適化における荷重伝達指標 Ustar (U*)の適用 (2) 荷重伝達U*エントロピーによる経路の明瞭化

    宮下 朋之

    日本機械学会 IIP2018 情報・知能・精密機器部門(IIP 部門)講演会  

    発表年月: 2018年03月

  • キネマチックカップリングにおける熱変形時の境界面の滑りについて

    宮下 朋之

    宇宙構造材料シンポジウム  

    発表年月: 2017年12月

  • 月面ローバ車輪の走破性の設計と検証

    江口航平, 宮下朋之

    第61回宇宙科学技術連合講演会講演集  

    発表年月: 2017年10月

  • 伸展マスト構造でのサーマルスナップ現象における摩擦特性の影響

    清水駿之介, 浅沼範大, 山川宏, 宮下朋之

    第61回宇宙科学技術連合講演会  

    発表年月: 2017年10月

  • 荷重伝達指標Ustar(U*)を用いた位相最適化

    宮下 朋之

    日本設計工学会2017年度秋季大会研究発表講演会  

    発表年月: 2017年10月

  • 痙縮の発症した片麻痺患者用の円筒型タイピング支援装置の開発

    杉原 壮一郎, 三浦 智, 宮下 朋之

    生活生命支援医療福祉工学系学会連合大会講演要旨集  

    発表年月: 2017年09月

  • 伸展式架台の軌道上におけるサーマルスナップの低減に関する研究

    浅沼範大, 宮下朋之

    構造強度に関する講演会  

    発表年月: 2017年08月

  • 前腕義手の上腕カフにおけるコンプライアントメカニズムの最適化設計

    菊池 宏太郎, 三浦 智, Victor Parque, 宮下 朋之

    生体医工学  

    発表年月: 2017年

     概要を見る

    <p>前腕義手を懸垂する上腕カフにおいて,マジックテープやバックル式ベルト等が締止構造として用いられている.しかしながら操作が煩雑であり,ベルトの一部を引張って締め付けるため圧力分布が不均一になり,褥瘡となる可能性がある.この問題に対して,半径方向に全体的に締め付けることによる圧力分散の改善を考えた.巨視的なポアソン比が負の構造をリング状にすることにより,軸方向への圧縮という単純な動作によって,半径方向への全体的な締め付けが可能となり,圧力分散の改善が期待できる.本研究においては,上腕カフへの適用を想定し,最適化設計したポアソン比が負のコンプライアントメカニズムによる締止構造の,従来の締止構造に対する圧力分散の優位性を検証した.最適化の初期形状として,寒野氏が提案した二種類の構造を基に,リング構造に円筒軸方向に強制変位を加え,構造中央部の半径方向変位を最大化する寸法最適化を行った.リング構造の収縮実験を行い,レーザ変位計で構造中央部の半径方向変位を測定し,最適化結果と実験値の整合性を確認した.次に,円柱の上腕モデルに対して締め付けた時の内圧を圧力センサにより測定し,圧力分散について変動係数を用いて従来の締止方式と比較した.これにより,周方向の圧力分散に関して,コンプライアントメカニズムによる締止構造によって優位性が得られることを確認した.</p>

  • On Path Planning using Log-Aesthetic Curves

    Parque Victor, 小林 正和, 宮下 朋之, 東 正毅

    精密工学会学術講演会講演論文集  

    発表年月: 2017年

     概要を見る

    Path planning with safety considerations regards the minimization of the (variation) of curvature along the curved path. We present for the first time the application of log-aesthetic curves in path planning. Our results show the feasibility and the computational efficiency compared to the conventional methods.

  • On Route Bundling in Triangulated Space

    Parque Victor, 小林 正和, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2017年

     概要を見る

    Route bundling consists of compounding multiple paths into a single route by finding optimal anchoring points at intermediate joints, which serve as coordinating locus for joint transport of goods/people. Route bundling is a significant construct in a number of planning scenarios where transport resource is scarce. We present the problem of route bundling and propose a new method for finding such compounded routes. Computational experiments in scenarios with/without obstacles show the feasibility and efficiency of our approach.

  • 振戦を抑制する上肢装具の設計に向けた前腕の粘弾性分布の測定

    川﨑 基資, 築根 まり子, 松本 侑也, 關 雅俊, 小林 洋, 宮下 朋之, 藤江 正克

    看護理工  

    発表年月: 2016年

     概要を見る

    &emsp; 本研究では,本態性振戦患者の振戦を抑制する効果の高い上肢装具を設計するために,生体軟組織が有する動的粘弾性のうち粘性要素が振動を抑制することに着目し,粘性の影響が大きい部位を装着部位とする設計指針を提案している.本論文では,人体に変位の強制振動を与えた際の変位と力の位相差を動的粘弾性の指標として,若年健常者3名の右前腕の掌側面における位相差分布を測定し,位相差分布の個人間の相関と,超音波画像を用いた内部構造の観察を行った.その結果,腱膜が厚い前腕近位部は位相差分布の個人差が小さいが,最小2.03[°]と低い位相差を示したため,拘束部位には向かないことが示された.一方,前腕遠位部は最大10.9[°]と位相差が高く拘束部位として適しているが,位相差分布の個人差が大きいことが示された.この結果を用いて,今後は,超音波画像診断と位相差測定をした振戦抑制装具のオーダーメイド設計手法を検討する.

  • 市場データを用いた車両設計指標の構築と最適化設計に関する研究

    保延 和博, 宮下 朋之

    設計工学システム  

    発表年月: 2016年

     概要を見る

    <p>In this research, we proposed a process in which criteria was built by Data Envelopment Analysis with vehicle data on the market. Using DEA, we derived a one-dimensional evaluation value from a multi-dimensional index. However, DEA has flexibility in evaluation model. So we constructed it with Interpretive Structural Modeling. ISM is the method to clarify relationship between items with paired comparison and create a hierarchical structure chart. As a result, we made 32 evaluation models and determine the best model which has the maximum standard deviation. This enabled us to eliminate the intention of the user. In addition, we obtained some features of the evaluation result. For example, it was difficult for vehicle data which has better fuel efficiency to acquire a high evaluation. Larger or smaller displacement vehicle obtained higher evaluation value, and middle class vehicle obtained middle value widely. In addition, we optimized the value of each evaluation item and obtained proposition for design, which was derived from data of 108 new vehicles and proposed larger or smaller displacement and shape. From the above, we confirm that DEA is useful for evaluating products and ISM is efficiency for constructing the evaluation model of DEA.</p>

  • 脳活動計測を用いたマスタ・スレーブの先端姿勢誤差に関する検討

    三浦 智, 川村 和也, 小林 洋, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2016年

     概要を見る

    <p>This paper presents a novel evaluation method for an intuitive operability of master-slave surgical robot. Surgical robot is controlled to match the posture of the arm tip between master-slave, however, it's impossible to match the posture because strict sensing is difficult and the error accumulates during manipulation. The objective is to validate the change of the brain activation against the change of error of posture in the arm tip. In experiment, participants controlled the virtual master-slave simulation. As a result, the brain activity decreased when the error of posture in the arm tip increased. The paper concluded that the 30° would be the acceptable error because when the error was smaller than 30° , the brain activated same as he relaxed.</p>

  • 衝撃入力時における荷重伝達経路を活用した車両設計に関する研究

    森崎 陽平, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2015年

     概要を見る

    本研究では自動車の車体構造を対象に, U* と Transfer Path Analysis と呼ばれる2つの手法を適用し,線形領域と非線形領域の両方で衝撃荷重が入力された際に生じる荷重の伝達経路を明確化することで両手法の評価を行った.さらに,モーターサイクルの車体構造に両手法を適用することで設計改善を実施し,衝撃入力時に乗車位置に生じる加速度の10%程度の低減を得た.

  • 部品間の接触部におけるフィルム・グリス付設による熱・振動特性の評価

    佐藤 融, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2015年

     概要を見る

    部品間の接触部への粘弾性体の挿入はプラント配管や自動車などの輸送機器といった多くの製品に行われている.本研究ではフィルム・グリス挿入に対してそれらの最適配置の検討を目指して熱・振動特性の評価を行った.モデルとして立方モデルを扱い,接触変化状況やボルト締結による影響を実験・解析により取得し,温度が増大する条件を提示した.また,振動に関して振動応答を低減するフィルム・グリス配置を示した.

  • 1A1-E06 膜組織の吻合支援システムに向けた組織の変形と針の貫通力の関係の導出

    榊原 功太郎, 築根 まり子, 小林 洋, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2015年

     概要を見る

    Recently, surgical robot is used in biliary-pancreatic surgery. However, complications, such as failure of the sutures, occur frequently. Therefore, we propose a membrane suture supporting system that prevent from unintentional needle penetration that cause failure of the sutures. Our strategy is that predict the ease of needle penetration through membrane from strain of that. We investigated relationship between strain of tissue isolated from porcine jejunum and penetration force by needle insertion experiment. As a result, the following relationship was suggested; when the strain increased at a constant rate of change, the penetration force became constant, however when the strain exceeded a certain value with the tension, the growth rate of the strain decreased, and the penetration force decreased.

  • 1A1-C09 肝がんラジオ波焼灼療法における焼灼支援システムの開発 : 焼灼状態に応じたモデルベース制御手法の提案

    呂 筱薇, 磯部 洋佑, 小林 洋, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2015年

     概要を見る

    While liver RFA treatment is minimally invasive, it is difficult for surgeon to confirm the ablated area on ultrasonic image. For accuracy improvement of RFA treatment we proposed an ablation supporting system for RFA. In this paper we discussed how the time interval affects the accuracy and analysis cost in the system. According to the experimental results under different time interval conditions it is suggested the time interval 30[s] was efficient to realize the goal temperature of the certain location close to the needle.

  • 2211 市場データを用いた車両設計指標の構築と最適化設計に関する研究(OS1-2 製品設計開発のためのモデリング・方法論・マネジメントII,OS1 製品設計開発のためのモデリング・方法論・マネジメント)

    保延 和博, 宮下 朋之

    設計工学システム  

    発表年月: 2015年

     概要を見る

    In this research, we proposed a criteria development process treating about 23000 vehicle data which were published on the market from 1982 to 2013 years by Data Envelopment Analysis. DEA is the method for obtaining an evaluation with multidimensional index. However, it is necessary to determine the evaluation model. So we constructed it by Interpretive Structural Modeling. ISM builds a hierarchical structure from paired comparison, and clarifies the relationship between items. As a result, we derived 32 evaluation models from ISM and decided the best model based on the standard deviation to be maximized. This makes it possible to avoid the arbitrariness of the user. In the best model, vehicle data which have lower fuel efficiency obtain higher comprehensive evaluation value. Otherwise, in displacement and price, minimum comprehensive evaluation value is in the middle, vehicle data which has lower and higher evaluation item value obtain higher comprehensive evaluation value. In addition, we optimized the value of each evaluation item for vehicle type and obtained proposition for design for each type, which proposed smaller displacement and shape. From the above, we confirm that DEA is useful for evaluating products and ISM is efficiency for constructing the evaluation model of DEA.

  • 小型人工衛星の部品間のボルト締結による接触熱抵抗の変化に伴う軌道上温度への影響に関する研究

    佐藤 融, 宮下 朋之

    宇宙科学技術連合講演会講演集  

    発表年月: 2014年11月

  • 膜厚を考慮した曲面の折り目の算出方法

    粉川 靖之, 宮下 朋之, 名取 通弘

    宇宙科学技術連合講演会講演集  

    発表年月: 2014年11月

  • グラフィックスハードウエアを用いた高速位相最適化に関する研究

    亀崎 浩輝, 宮下 朋之

    計算力学講演会講演論文集  

    発表年月: 2014年11月

  • 衝突時における荷重伝達経路を活用した車両設計に関する研究

    森崎 陽平, 宮下 朋之

    計算力学講演会講演論文集  

    発表年月: 2014年11月

  • 結合剛性を考慮したスペースフレーム構造を有する車両の最適化に関する研究

    森崎 陽平, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2014年

     概要を見る

    中空鋼管で構成されるスペースフレーム構造である競技用車両について,剛性の最大化を目的として最適化を行う.実際の溶接部による基礎実験で得た要素間の結合剛性を考慮する結合要素により,梁要素を結合した有限モデルを作成した.作成したモデルを用い,レギュレーション等の設計要件を満たしつつ剛性が最大となる要素配置を遺伝的アルゴリズムにより検討し,定常円旋回を模擬した荷重に対して最大変位部の変位が約15%減少した.

  • J2410105 ラジオ波焼灼療法における電磁波周波数特性に基づく発熱量のモデル化([J241-01]医工学テクノロジーによる医療福祉機器開発(1))

    山崎 望, 小林 洋, 菊池 勇人, 呂 筱薇, 草鹿 仁, 宮下 朋之, 藤江 正克

    年次大会  

    発表年月: 2014年

     概要を見る

    Radio Frequency Ablation (RFA) is one kinds of hyperthermia treatment for cancer. Advantages of RFA are mainly low impact operations and shorter hospital stay. Disadvantage of RFA is difficult to get coagulation information for operator. Therefore, it needs to control ablation energy precisely. Thus, we have been proposed a method control of ablation energy. A feature of RFA, it uses electromagnetic-wave for ablation. RFA is related as not only thermal physics but also electrical physics. And, Heat generation from RF-electrode depends on frequency of electromagnetic-wave frequency. Therefore, in this study, we modeled heat generation based on electric impedance frequency characteristic during RFA. Firstly, it measured electric impedance frequency characteristic of pig liver samples. Secondly, it measured temperature distribution of the samples during RFA. Finally, it modeled electric impedance frequency characteristic of pig liver samples based on equivalent circuit model which was considered about fractional calculus. And, we evaluated a value of electrical impedance. From results, Model value of heat generation was matched with actual measurement value by using a coefficient of electrical impedance.

  • 超小型人工衛星における膜伸展・展開機構の設計及び性能評価

    粉川 靖之, 宮下 朋之, 名取 通弘

    宇宙科学技術連合講演会講演集  

    発表年月: 2013年10月

  • 小型人工衛星の部品間の接触熱抵抗を考慮した軌道上温度予測に関する研究

    佐藤 融, 宮下 朋之

    宇宙科学技術連合講演会講演集  

    発表年月: 2013年10月

  • 408 鉄道車両の衝突における乗客挙動の推定に関する研究

    高橋 宗平, 田中 佑典, 宮下 朋之

    計算力学講演会  

    発表年月: 2013年

  • J164034 ラジオ波焼灼療法における熱伝達率の大血管内流量依存性の検討([J164-03]医療・健康・福祉のためのセンシングおよびロボティクス(3))

    菊池 勇人, 磯部 洋佑, 呂 筱薇, 山崎 望大, 渡辺 広樹, 小林 洋, 宮下 朋之, 藤江 正克

    年次大会  

    発表年月: 2013年

     概要を見る

    Radio frequency ablation (RFA) is one of the minimally invasive and useful treatments for liver cancer. While RFA is popular approach for liver cancer in Japan, RFA has several disadvantages such as ablation temperature is excess or insufficient. Because flow in great vessels absorbs the heat from electrode needle in liver RFA, it is difficult for surgeon to estimate the temperature distribution. In this study, we used the experimental system with porcine great vessels and porcine liver to investigate about the relationship between heat loss and flow volume in great vessels. We calculated the heat transfer coefficient based on Newton's law of cooling under each flow volume in each great vessel, and figured out the relationship between heat transfer coefficient and flow volume. As a result, heat transfer coefficient depends on flow volume in great vessels. And the relationship between heat transfer coefficient and flow volume is linearity. These results suggested that the relationship between flow volume in blood vessel and heat transfer coefficient is linearity, and flow volume in blood vessel causes heat loss in RFA.

  • 3308 相似則及び最適化手法を活用した縮小衝突用ダミーモデルの設計に関する研究

    高橋 宗平, 宮下 朋之

    設計工学システム  

    発表年月: 2013年

     概要を見る

    Scaled dummy used in the experiment on the estimation of passenger's behavior under a train collision is designed considering a similarity rule. Several tests are applied to evaluate dummy biofidelity according to ISO technicalreport ISO/TR9790. Overall biofidelity of the dummy is 4.62 points out of 10. And it is the third-highest rating "Fair Biofidelity" out of 5 ratings indicating the degree of biofidelity. Next, Finite element is applied conducted to improve thoraxbiofidelity dummy using optimization method, suchas breadth of rib, thickness of soft tissue and Elastic Modulus of soft tissue because response on thoraximpact test is particularly bad. Optimized dummy is developed and thoraximpact test is conducted again. The maximum value of impactor force of optimized dummy is 28.1% better than that of unoptimized one.

  • 3307 データ包絡分析法を用いた概念設計支援に関する研究

    高橋 優文, 宮下 朋之

    設計工学システム  

    発表年月: 2013年

     概要を見る

    In the stage of a conceptual design, designers often stimulate and influence each other, and they must conceive a completely new idea and the outstanding idea. However, as a design problem, it is dependent on a designer's experience and intuition. Furthermore, the suggestion of an idea is sometimes plentifully performed by two or more persons, sharing of mutual knowledge or information for a smooth communication. Therefore, it is necessary to establish the reasonable design method to derive excellent idea, in this study, the new design approach which combined two design methods of an axiomatic design theory and TRIZ is proposed, the validity of a design method is confirmed. The axiomatic design theory clarifies the process in a design TRIZ offers the solution of a design which a designer didn't know. By combining these advantages, we will proposed a new method. The experiment using the proposed methods, technique nothing, TRIZ, the axiomatic design theory, and the TRIZ+ axiomatic design theory. And, it is verified what kind of difference the number of ideas or quality. As a result, TRIZ was able to conceive many ideas, but quality is inferior to other design methods. The axiomatic design theory could conceive the high quality idea, but a number of ideas are inferior to other design methods. Although the TRIZ+ axiomatic design theory had few ideas, the highest quality idea was able to be conceived.

  • 1112 コンプライアントメカニズムによる衝撃吸収構造の創成に関する研究

    中村 優太, 服部 悠太, 宮下 朋之

    設計工学システム  

    発表年月: 2013年

     概要を見る

    In this study, we try to design a shock absorbing structure using the compliant mechanism. To design the shock absorbing structure, it is necessary to consider the plastic deformation. We use the elastic-plastic body to design the compliant mechanism. First, we do topology optimization whose object function is to design the shock absorbing structure and the compliant mechanism. In this topology optimization, we use Evolutionary Structual Optimization. And we investigate the shape and the characteristic while the parameters fluctuation. Secondly, the impact test is done to confirm whether it is functioning as a shock absorbing structure. We test two models and compare the behavior of each model.

  • 3407 鉄道車両の衝突時における着座方式と乗客挙動の実験(GS-2 一般セッションII)

    松田 淳, 宮下 朋之

    設計工学・システム部門講演会講演論文集  

    発表年月: 2012年09月

     概要を見る

    When major train collisions occur, train structure deforms to reduce the impact effect. However, some passengers are injured in spite of the shock absorption of the structure. Therefore, it is necessary to design train structure to reduce injuries of passengers when accidents occur. In this study, we proposed the design improvements strategies to reduce injuries of the passengers caused by train collisions. We experimented with scale-down models of passengers and vehicles. To evaluate injury levels, we used HIC36 as a standard for head injuries. As a result of these experiments, HIC36 is influenced by seating position and type. We proposed three train structures to reduce injuries of passengers. These are that of using convertible seats, seating passengers with their backs to the front of the train and seating passengers in the rear of the vehicle.

  • 2309 コンプライアントメカニズムを用いた衝撃吸収構造の創成に関する研究(OS10 創発性と多様性の設計)

    岡田 健太, 宮下 朋之

    設計工学・システム部門講演会講演論文集  

    発表年月: 2012年09月

     概要を見る

    In this study, to design a shock absorbing structure using the compliant mechanism. To be applied to the shock absorbing structure is necessary to consider the plastic deformation. However, in previous studies such research has not been done. In the present study to design a compliant mechanism targets the elasto-plastic body. And this mechanism is applied to impact-absorbing structure. First we use topology optimization whose object function is to design shock absorbing structure and compliant mechanism. And we can design model which has compliant mechanism and shock absorbing function. Secondly impact test is performed using this mechanism. We create a model for comparison for this test. We compare the behavior of each model and discuss about it.

  • 2208 人工衛星の機器配置を考慮した軽量化設計に関する研究(OS6-2 設計と最適化II)

    水町 星哉, 宮下 朋之

    設計工学・システム部門講演会講演論文集  

    発表年月: 2012年09月

     概要を見る

    Recently the development of the nano satellite becomes active. In general, nano satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is reasonable, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. We have to design of satellite structure considering the severe mechanical environment of launching. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In addition, harnesses are also important component when we design satellites. In this paper, we will propose the design of the satellite whose dimension is 400 millimeters cube. The satellite supposed to be launched by H-2A rocket and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

  • J165034 乳がん診断支援における弾性率の非線形性を計測する触診ロボットの開発 : 2本の圧子を用いた圧縮方法の有限要素解析による検討

    築根 まり子, 小林 洋, 宮下 朋之, 白石 泰之, 山家 智之, 橋爪 誠, 藤江 正克

    年次大会  

    発表年月: 2012年

     概要を見る

    A disadvantage of nonlinear elastography techniques for breast tumor diagnosis is that the tumor does not strain sufficiently to observe nonlinear elasticity We propose a robotic palpation system with two indenters to evaluate the nonlinear elasticity properties of tissues The objective of the present study was to consider a compression method in terms of the position of indenters and the section area of indenters to generate large strain in tumors by finite element analysis As a result, it was found that the following compression conditions made tumor deformable First condition is that the default position of indenter is located near the tumor Second condition is that the section area of indenters is enlarged if the default position of indenter is located near the tumor, and the section area of indenters is made smaller if the default position of indenter is distance from the tumor

  • 2A2-S09 RFAにおいて非対称形状の焼灼領域形成を可能にする電極針の機構の検討(手術支援ロボティクス・メカトロニクス(1))

    磯部 洋佑, 山崎 望, 渡辺 広樹, 小林 洋, 宮下 朋之, 大平 猛, 橋爪 誠, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2012年

     概要を見る

    RFA is a treatment modality for cancer that is becoming accepted because of its less-invasiveness and high-curability. Controlling the shape of ablation area increases curative effect. Therefore we propose the mechanism of electrode needle that RF current flow between two secondary electrode needles. We examined the parameters required to obtain a trapezoidal ablation area surrounded by two electrode needles. The result of simulation, it was suggested that the relation of length and thickness of two needles affect ablation. In addition, we performed ablation experiments using agar phantoms. We evaluated the ablation shape of simulation and experiment as three-dimensional cube set. Then, we confirmed that result of simulation and experiments were in agreement.

  • 2P1-C08 乳房を構成する組織の非線形弾性率の測定と比較(医療ロボティクス・メカトロニクス)

    築根 まり子, 小林 洋, 星 雄陽, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2011年

     概要を見る

    As the number of breast cancer patients increases, non- invasive and accuracy diagnosis of breast cancer is required. It is expected that there is diagnostic potential in examining the nonlinear elastic properties of soft tissues. The measurement method of the nonlinear elasticity of tumor in breast is needed. Therefore, we propose the robotic palpation system for diagnosis based the nonlinear elasticity. Here, we report the measurement of the nonlinear elastic properties of breast tissue components. The nonlinear elastic properties of breast tissue were investigated with a creep test. The three parameters of the nonlinear elastic model were acquired. In conclusion, two of these parameters are significantly different among the components. There was indicated that the magnitude of parameter is determined by tissue structure. There was suggested that the difference in parameter distribution causes the difference in dynamic response of breast tissue.

  • 3202 人工衛星の機器配置を考慮した軽量化設計に関する研究(OS6-4 設計と最適化IV-構造設計への応用-,OS6 設計と最適化)

    水町 星哉, 宮下 朋之

    設計工学システム  

    発表年月: 2011年

     概要を見る

    Recently the development of the nano satellite becomes active. In general, nano satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is reasonable, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. We have to design of satellite structure considering the severe mechanical environment of launching. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In this paper, we will propose the design of the satellite whose dimension is 400 millimeters cube. The satellite supposed to be launched by H-II A rocket and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

  • 2403 鉄道車両の衝突時における乗客挙動の推定に関する実験的考察(GS1-2 一般セッションII,GS1 一般セッション)

    田中 佑典, 宮下 朋之

    設計工学システム  

    発表年月: 2011年

     概要を見る

    An experiment on the estimation of a large number of passenger's behavior in under a train collision is studied using small train model. Here, we treated the position of passenger paying attention to a seat for seven persons. As a result of the experiment, passenger's head injury is influenced by seating position or coefficient of static friction of floor material. We discussed relation of between seating position or coefficient of static friction of floor material and passenger's head injury, and proposed four ideas reducing damage of passengers.

  • 2101 概念設計支援におけるデータ包絡分析法およびTRIZ理論の応用(OS10-1 創発と発想支援,OS10 創発性と多様性の設計)

    佐藤 正樹, 花田 龍, 宮下 朋之

    設計工学システム  

    発表年月: 2011年

     概要を見る

    In conceptual design phase, According paying attention to specific design objectives, designers sometimes avoid to get various ideas about new product. On the other hand, using brainstorming allows to get various ideas, but it causes a problem to obtain a lot of unavailable ideas together. In this study, to support generating various and effective ideas in conceptual design, we propose a conceptual design support method applying Data Envelopment Analysis and TRIZ. We proposed the method using several evaluation values to fill the gap of pareto frontier and creating hierarchy graphs. In this study, we propose the method using TRIZ at the Brain Storming stage in addition to the our proposed method. Various information is given to the designer from hierarchy relation graphically and TRIZ when they conceive new ideas. We verified which technique is effective to obtain new ideas with high evaluation by comparing these two methods. The result shows that the proposed method using TRIZ is more efficient than the other way not using TRIZ.

  • 1501 衝撃荷重を受ける梱包用構造物の監視デバイスに関する研究(GS1 一般セッション)

    水野 智正, 宮下 朋之

    設計工学システム  

    発表年月: 2010年

     概要を見る

    The corrugated cardboard is widely used for packing in the transportation. Therefore, the technology that minimizes various transportation accidents is necessary. Especially, the accidents by the impact occupies the more than the half of the accidents. There are many researches that evaluates the maximal acceleration of the corrugated cardboard under the impact. However, because the maximal acceleration is not necessarily corresponding to the damage of contents, it is difficult to evaluate the impact of the corrugated cardboard only by the maximal acceleration. Also the place to measure is the center of the ground side but it is not discussed about the measuring place. In this paper, impact force is applied by a free fall test by a guide rail to drop it straight to the ground. The ID acceleration sensor, are glued in several place to make clear the difference between the measured place. From the experiment, we considered impact energy and the maximal acceleration. In addition, we made an analytical model of the corrugated cardboard to analysis to identity the damage. As a result, strain energy has a correspondence between the experiment and the analysis and the maximal acceleration didn't have it. So, the utility of the strain energy was able to be shown as a method of evaluating the impact using FEM. Through this result, we watched how the energy spread and found out the center of the ground side and the wall side has a high energy when it's impacted and when a few second pasts the wall side still has a high energy because of the vibration of the cardboard. To find out the relation between the data from the corrugated cardboard and the contents. As a result, the maximal acceleration has a strong relation between the center of the ground side and the energy has a strong relation between the middle of the center and the corner. Finally, we also considered HIC36 to evaluate the impact.

  • 1201 データ包絡分析法を用いた概念設計支援に関する研究(OS6 モデル駆動型の製品システム開発)

    佐藤 正樹, 宮下 朋之

    設計工学システム  

    発表年月: 2010年

     概要を見る

    In conceptual design phase, if designers are much more conscious of design objectives, they won't come up with various ideas about new product. On the other hand, using brainstorming allow to get various ideas, but to get a lot of unavailable ideas together. In this study, to support generating various and effective ideas in conceptual design, we propose two conceptual design support methods based on Data Envelopment Analysis and Analytic Hierarchy Process. The former is the method using several evaluation values to fill the gap of palate frontier and creating hierarchy graphs. The latter is method establishing a prioritized list of all ideas by paired comparison. Various information is given to the designer from these graphs when they conceive new ideas. We verified which technique is effective to obtain new ideas with high evaluation by comparing these two methods. The result shows that the proposed method using hierarchy graphs is more efficient than the other way using the prioritization graph.

  • 2417 鉄道車両の衝撃吸収性を考慮した構造最適化(OS7-4 設計と最適化IV-空力特性・積層構造-,OS7 設計と最適化)

    小松崎 誠人, 宮下 朋之

    設計工学システム  

    発表年月: 2009年

     概要を見る

    As compared with automobile, few train design methods for crashworthiness have been proposed. To establish it, we paid attention to double structure composed of train exterior and cabin, and designed train finite element model. We changed the position and thickness of steel plates joining these two constituents, and simulated train collision to a rigid body wall at the speed of 60 kilometer per hour. As a result of the optimization, it was shown that distortional energy in the cabin and maximum deceleration were reduced. We discussed relation of between absorbed energy and maximum deceleration, and introduced new train structure.

  • 2206 小型人工衛星の構造最適化に関する研究(OS9-1 システム最適化,OS9 システム最適化)

    齊藤 圭佑, 宮下 朋之, 角田 博明, 渡辺 和樹

    設計工学システム  

    発表年月: 2009年

     概要を見る

    Recently the development of the small satellite becomes active. In general, small satellites are expected to be developed faster and cheaper than the large satellites. A cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. Considering the severe mechanical environment of launching, we have to design satellite structure. The natural frequency of the satellite should be higher than the value decided by the launching and the satellite should bear the loads during launch. And the satellite should be considered with the value of the moment of inertia and a center of gravity because of stability of position. In this paper, we will propose the design of the satellite whose dimension is 20 centimeters cube. We focused on the trade-off design between minimization of stress condition and the appropriate center of gravity and the moment of inertia under the minimum natural frequency and the maximum mass for optimizing the satellite structures.

  • G1201-1-1 鉄道車両衝撃時の乗員と車内設備の干渉における安全性の評価(車両・CAD)

    島田 真行, 宮下 朋之

    年次大会  

    発表年月: 2009年

     概要を見る

    This study treats human body model and cellular automata for analysis of the passenger behavior for the deceleration at the time of the railway accident. At this case, the deceleration obtained from simulation of the railroad carriage model is used for simulation suppose to collision to the rigid body wall. Consequently, it was shown that injury to the passenger was able to be reduced by the parameter of the partition and the floor when accident was occured.

  • データ包絡分析法を用いた概念設計における発想支援に関する研究(機械要素,潤滑,設計,生産加工,生産システムなど)

    佐藤 大祐, 小林 正和, 宮下 朋之

    日本機械学会論文集C編  

    発表年月: 2009年

     概要を見る

    At an early stage of design process, it is required to discuss many ideas derived from design requirements using designer's knowledge and experiences. Especially, at conceptual design stage, many designers often discuss together about new product and discuss design ideas considering its effectiveness. However, according to increasing the complexity of the functions of products and variety of consumer's needs in recent years, it becomes difficult for designers to discuss about ideas by only conversations and figures. Then, in the conceptual design process, it is required to derive many ideas that meet the design requirement considering the complicated requirements. The derivation process of ideas often wastes the time because of the inertia of designer's thinking process. In this study, we will propose the method to support derivation process from the visualized relation using Data Envelopment Analysis. Through the experiment, we will confirm the effectiveness of our study.

  • 3・4 CAE・最適化等についての研究動向(3.計算力学,<特集>機械工学年鑑)

    宮下 朋之

    日本機械学会誌  

    発表年月: 2009年

  • 1111 ニューラルネットワークを用いた概念設計支援に関する基礎的検討

    佐藤 大祐, 宮下 朋之

    設計工学・システム部門講演会講演論文集  

    発表年月: 2008年09月

     概要を見る

    In conceptual design phase, if designers are much more conscious of design objectives, they won't come up with various ideas about new product. On the other hand, using brainstorming allow to get various ideas, but to get a lot of unavailable ideas together. In this study, we propose the method that supports generating various and effective ideas in conceptual design. In the last our study, we have proposed conceptual design support method using Data Envelopment Analysis. The last method's approach is using several evaluation values to fill the gap of palate frontier. But it was too difficult for subjects to use this approach in the experiment. Proposed method in this paper supplies key words. These key words are made of calculated component values using made nonlinear mathematical model of relation between component and evaluation of idea with Neural Network. We confirm that the method is useful in terms of simplicity of generating various and effective ideas.

  • 3116 小型人工衛星の構造最適化に関する研究

    齊藤 圭佑, 宮下 朋之, 角田 博明, 渡辺 和樹

    設計工学・システム部門講演会講演論文集  

    発表年月: 2008年09月

     概要を見る

    Recently the development of the small satellite becomes active. In general, small satellites are expected to be developed faster and cheaper than the large satellites. The launching cost of the piggyback satellite is low, and then a cost of a piggyback satellite is often decided by weight. Therefore it is important to reduce the weight of satellite for cost. Considering the severe mechanical environment of launching, we have to design of satellite structure. The natural frequency of the satellite should be higher than the value decided by the rocket and the satellite should withstand the loads during launch. In this paper, we will propose the design of the satellite whose dimension is 20 centimeters cube. The satellite supposed to be launched by H-2A rocked and we focused on the trade-off design between minimization of mass and maximization of natural frequency under the maximum stress condition for optimizing the satellite structures.

  • 包絡分析法に基づくコラボレーション設計支援

    小林 正和, 宮下 朋之, 山川 宏, 吉村 允孝

    日本機械学会論文集. C編  

    発表年月: 2008年02月

     概要を見る

    This paper focuses on the creative aspects of collaboration and proposes a method for analyzing created ideas to help designers to enhance designers' creativity during collaborative design projects. The proposed method is based on DEA (Data Envelopment Analysis), analyses ideas created by designers to reveal characteristics and overall effectiveness of each idea, interrelationship between ideas and potentially fruitful directions for improvement of created ideas and exploration of new ideas and aims to help designers explore more sophisticated ideas. To enable smooth collaboration when using the proposed analysis method, this paper also proposes a computerized support system. This system is based on a combination of the analysis method proposed here, and the method for visualizing interactive communication processes proposed in our previous work. Analyzing system analyzes created ideas and visualizes the results from the multiple viewpoints, whereas visualizing system records interactive communication processes among designers and visualizes them in an easyto-understand way.

  • 835 実時間性を考慮した穿刺シミュレーションのアルゴリズムの構築と評価(OS11.計算ソリッドバイオメカニクス(4),オーガナイズドセッション)

    山中 真先, 宮下 朋之

    計算力学講演会  

    発表年月: 2008年

     概要を見る

    The simulation system that calculates the behavior of the liver by needle insertion in real time, displays the results, and outputs the reaction force to the kinesthetic sense device was developed. The finite element method was used for the calculation of the behavior of the liver. Considering the calculation load, the algorithm to achieve the real-time processing was developed. The simulation system was evaluated from calculating load by using the liver models with different number of elements. It was the model with 905 elements and 209 nods that met the requirement for the real-time processing (calculation speed is 30Hz or more).

  • 908 鉄道車両衝撃時の乗員と車内設備の干渉における安全性の評価(OS5.社会・環境・防災シミュレーション,ポスターセッションP-1,オーガナイズドセッション)

    片岡 耕介, 宮下 朋之

    計算力学講演会  

    発表年月: 2008年

     概要を見る

    This study treats the reduction of the degree of the passenger injury by analyzing the behavior of 133 passengers being in a commuter vehicle at the time of the impact of the railroad accident outbreak with a computer. Judgment the degree of the injury of the passengers and inspection of the global safety was enabled by developing the behavior analysis program of the passengers with cellular automata with C language and analyzing with a large number of people. In addition, the safety improvement effect of the straps was confirmed by comparing the injury judgment value of the model increased the number of the straps to the normal model.

  • 1P1-C10 拍動補償ロボットシステムの評価を目的とした拍動再現ロボットの開発(手術支援ロボティクス・メカトロニクス)

    岡田 薫, 加藤 篤, 野口 豊弘, 豊田 和孝, 川村 和也, 小林 洋, 岡本 淳, 宮下 朋之, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2008年

     概要を見る

    This paper presents the development of robot capable to simulate heartbeat. It is difficult to operate off-pump coronary-artery bypass surgery. Consequently, we develop the surgical robot system with heart-beat compensation. In the process of developing the robot system above, it is necessary to evaluate the tracking capability of the robot system quantitatively. Therefore, we developed the Robotic heart-beat simulator which evaluates the robot system. First of all, required specification of the robot was found by the heartbeat data in vivo experiment. Second, the link parameters of the robot that satisfy the specification were optimized. At the end, the robot was evaluated for accuracy of position and posture. As a result, the robot moved with maximum error of 0.28 [mm] and 0.54 [deg]. In addition, the robot was evaluated in the experiment of movement based on the heartbeat data, it showed a little error and time-lag, but utility of the robotic heartbeat simulator.

  • 3305 データ包絡分析法による車両構造・性能データを用いた設計指針の検討

    福西 大智, 宮下 朋之

    設計工学システム  

    発表年月: 2008年

     概要を見る

    In this research, we analyzed the automotive data that contain bringing the automotive performance from about 300000 models from which they were open to the public from 1982 to 2006 years about 20000 models by Data Envelopment Analysis. DEA is the method that can make clear superiority or inferiority of business unit with multi-dimensional index and showing improvement direction of business unit. As a result, we can show trends from graph where horizontal axis was assigned as each performance index and vertical axis was assigned as each efficiency value obtained by DEA. We showed design index of automotive in the future by sensitivity analysis. From the above-mentioned method, we can confirm DEA is the effective method as method of evaluating products with multi-dimensional index.

  • 周期的熱荷重による試験環境変動にロバストな熱変形試験法の成立性評価

    宮﨑哲大, 石村康生, 佐藤泰貴, 宮下朋之

    第33回宇宙構造・材料シンポジウム  

    発表年月: 2007年12月

  • 力覚を伴う穿刺シミュレータの構築と評価

    中村 拓真, 宮下 朋之, 山川 宏

    精密工学会学術講演会講演論文集  

    発表年月: 2007年

     概要を見る

    臓器の変形,器具への力覚を提示する手術訓練シミュレーションシステムが多く開発されている.有限要素法は大規模行列演算であり,実時間計算を妨げる要因となっている.そこで計算手法を簡略化し,実時間内で穿刺時における力学現象を解析し,力覚を提示するシステムを構築する.反力を臓器モデルの内部応力から算出する簡易的手法を提案し,モデルの粒度と計算時間の観点からシステムの評価を行い,本研究の有効性を示した.

  • 穿刺経路と保持器具の設計

    モハマド カマロル, 宮下 朋之, 小林 洋, 山川 宏, 岡本 淳, 藤江 正克

    精密工学会学術講演会講演論文集  

    発表年月: 2007年

     概要を見る

    The minimal invasive surgical technique used for treatments on cancer infected liver is comparatively to be effective due to fast recovery of the wound and the rehabilitation period. Needle insertion planning shows its difficulties when needle contact the tissue structures and become complicated with existence of gravity, cancer size and position, needle properties and surrounding organs. In this study, a constitutive equation of viscoelastic material properties of liver is formulated using measured experimental results on pig&prime;s liver. 3-D Finite Element Model is created using sliced MRI images. Approximations were made on friction between needle and soft tissue, and the condition of tear-off elements integrated with quasi-static analysis. In simulation, we proposed a retainer tool to minimize the displacement of the cancer infected part as a new boundary condition. Numerical results by proposed boundary condition technique show the possibility to design a new device in order to navigate needle to hit the cancer precisely.

  • データ包絡分析法を用いた概念設計支援に関する基礎的検討

    佐藤 大祐, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2007年

     概要を見る

    概念設計段階における分野の異なる設計者集団の合意形成支援,及び目的に沿う多様なアイデアの発想支援を目的とする.複数のアイデアをアンケートで点数評価し,データ包絡分析法を用いて階層関係を提示することで,アイデアの上位関係の空間的な把握を支援する手法を提案した.CDプレーヤーを対象に被験者に概念設計を試行的に行い,提案手法の有用性の検討を行い,多様なアイデアを探索できる点で有用であることが認められた。

  • 2106 データ包絡分析法による車両構造・性能データを用いた設計指針の検討(OS15 マーケットづくりのための設計)

    福西 大智, 宮下 朋之

    設計工学システム  

    発表年月: 2007年

     概要を見る

    In this research, we analyzed the automotive market bringing the automotive performance from about 300000 models from which they were open to the public from 1982 to 2006 years about 20000 models by Data Envelopment Analysis. DEA is the method that can make clear about superiority or inferiority of business unit with multi-dimensional index and showing improvement of business unit. As a result, we can show trends from graph where horizontal axis was assigned as each performance index and vertical axis was assigned as each efficiency value obtained by DEA. We showed design index of automotive in the future by sensitivity analysis. From the above-mentioned method, we can confirm DEA is the effective method as method of evaluating products with multidimensional index.

  • 2306 鉄道車両衝突時の乗客の安全性に関する研究(OS5-2 設計と最適化II)

    片岡 耕介, 宮下 朋之, 山川 宏

    設計工学システム  

    発表年月: 2007年

     概要を見る

    This study treats the reduction of the degree of the passenger injury by analyzing the behavior of the passenger sitting on a box seat at the time of the collision outbreak of the railroad carriage by simulation. Judgment the degree of the passenger injury was enabled by development the behavior analysis program of the passenger with C language and inputting a decelerating acceleration wave pattern at the time of the vehicle collision obtained by the finite element analysis. Injury judgment values decreased by more than 30% by optimizing to assume the spring constant of the seat as a design variable to reduce an injury judgment value.

  • 2P1-C03 実時間性を考慮した有限要素解析法による変形シミュレーション : 力覚デバイスによる検証

    山内 浩嗣, 宮下 朋之, 乾 正知, 山川 宏

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2006年

     概要を見る

    In this study, we will review the previous studies treating same problem using FEM analysis and propose the method to treat the cutting simulation considering real time computation and simulation results are directly transferred to the user through the haptic device. The hex and tetra elements were used to model the structure using FEM analysis and dynamical response was calculated using wilson θ method. Here, the elements matrix was normalized according to the distance between a cutting device and nodes to omit the re-mesh procedures. The proposed method was implemented using three threads that handle graphics for display, dynamical calculation and model construction to improve the response for user operation. Then, we have developed the simulation system composed of the haptic device (PHANToM force feedback device) using ToolKit and the proposed method including graphics animation.

  • 2A1-A03 転移性癌手術を対象とした呼吸器外科ナビゲーション

    吉澤 愛子, 小林 洋, 岡本 淳, 宮下 智之, 山川 宏, 藤江 正克

    ロボティクス・メカトロニクス講演会講演概要集  

    発表年月: 2006年

     概要を見る

    This paper shows the development of a respiratory surgical navigation system for the metastasis cancer in a collapsed lung. This system has two navigation methods, (a) Collapsed simulation,(b) Palpation using manipulator. Collapsed simulation provides the position of the cancer in a collapsed lung using the preoperative CT Data. Palpation using manipulator after collapsed simulation provide more precise position of collapsed lung.

  • 117 アイデアの評価・分析に基づく創造的コラボレーション支援(創造・創発〔II〕)

    小林 正和, 宮下 朋之, 山川 宏, 吉村 允孝

    Designシンポジウム講演論文集  

    発表年月: 2006年

     概要を見る

    This paper focuses on the creative aspects of collaboration and proposes a method for analyzing created ideas to support collaborative design processes. The proposed method, based on DEA (Data Envelopment Analysis), analyses created ideas, reveals their characteristics and interrelationships, clarifies potential directions for improvement of created ideas as well as potentially fruitful directions for exploration of new ideas, and aims to help designers explore more sophisticated products. To enable smooth collaboration when using the proposed method, a computerized support system is constructed. This system is based on a combination of the analysis method proposed here, and the method for visualizing interactive communication processes proposed in our previous work.

  • 3201 部分硬化型インフレータブル構造の最適設計(J06-1 スマート構造,J06 知的材料・構造システム)

    佐藤 暢晃, 岩越 智之, 角田 博明, 山川 宏, 宮下 朋之

    年次大会  

    発表年月: 2006年

     概要を見る

    In this study, we proposed partially rigidizable inflatable structures consist of rigidizable layers on the part where to be stiffened. As a result of tension test of the test specimen, we could make the property of the material clear. Furthermore, we made a initial model that wholly covered hemisphere structural model and the topology optimization was applied to find the optimum arrangement of regidizable layers. As a result, the number of edge reduced to 35 lines, and considering the volume to 11% lower than that of the basic model. From the point of view of manufacturing, stiffness and stress concentration, we could suppose that the basic model is suitable for our required.

  • 力覚デバイスによる物体切断シミュレーション

    日本精密工学会  

    発表年月: 2005年03月

  • GPUを利用した二次元応力場における簡易計算と最適化の検討

    日本精密工学会  

    発表年月: 2005年03月

  • 探索方向の傾斜によるPSO法の改良に関する検討

    日本精密工学会  

    発表年月: 2005年03月

  • 寄与度を用いたパラメータスタディツールの改善

    齋藤 知之, 宮下 朋之, 乾 正知

    精密工学会学術講演会講演論文集  

    発表年月: 2005年

     概要を見る

    設計において、様々な性能や条件をそのパラメータにより公式化できる場合があり、個々のパラメータが及ぼす性能や条件に対する影響力を把握するため、変数の値を変更し、検討することを繰り返し行うパラメータスタディという作業を行う.パラメータスタディを用いる際、数値データとなり直感的に把握しにくいので、3次元グラフィックスを用いたパラメータスタディツールを構築させ、更に、寄与度により変数の有意性を調べる.

  • データ包絡分析法による製品データの解析

    諸岡 宏亮, 乾 正知, 宮下 朋之

    精密工学会学術講演会講演論文集  

    発表年月: 2005年

     概要を見る

    企業の利潤を追求するために、設備投資を含めた開発コストに対する利益(費用便益)の最大化が求められ、開発対象となる製品に対し、より厳しい開発環境下において同業他社に対して優位にたてる機能、性能の向上が設計者に課せられるようになってきた.同業他社の製品と自社の製品をいろいろな視点で比べ、その効率値をデータ包絡分析法を用いて算出し、比較&middot;検討を容易にさせる。そしてより機能、性能の良い製品の開発のための指針の導出を目的としている。

  • Development and Basic Study of Parameter Study tools

    JSME Mechanical Engineering Congress /JSME  

    発表年月: 2004年09月

  • パラメータスタディツールの開発と基礎的検討

    日本機械学会  

    発表年月: 2004年09月

  • 面法線情報を伴うZ-マップ表現を利用した加工シミュレーションの高精度化

    日本精密工学会  

    発表年月: 2004年09月

  • 領域遺伝型遺伝的アルゴリズムの開発 : 複数の局所解を探索するための適応度関数の提示

    荒川 雅生, 宮下 朋之, 石川 浩

    日本機械学会論文集. C編  

    発表年月: 2004年07月

     概要を見る

    In some cases of developing a new product, response surface of an objective function is not always single peaked function, and it is often multi-peaked function. In that case, designers would like to have not only global optimum solution but also as many local optimum solutions as possible, so that he or she can select one out of them considering the other conditions that are not taken into account priori to optimization. Although this information is quite useful, it is not that easy to obtain with single trial of optimization. In this study, we will propose a screening of fitness function in genetic algorithms, and give rough search for local optima. Once after they are obtained we will carry out local search to obtain multiple quasi-optimum solutions. In this paper, we demonstrate the effectiveness of the proposed method through a simple benchmark test problem.

  • An application of Discrete shape expression considering normal line information]

    JSPE Precision Engineering Conference (Spring) / JSPE  

    発表年月: 2004年03月

  • 法線情報を伴う離散的形状表現のCAMでの利用

    日本精密工学会  

    発表年月: 2004年03月

  • 最適設計におけるパラメータスタディツールの開発

    日本機械学会  

    発表年月: 2004年03月

  • データ包絡分析法による協調設計に関する研究

    日本機械学会  

    発表年月: 2004年03月

  • ジョブショップスケジューリング問題の複数の異なる準最適解の導出:免疫アルゴリズムの改善

    長谷川 聡, 宮下 朋之, 乾 正知

    精密工学会学術講演会講演論文集  

    発表年月: 2004年

     概要を見る

    最適化手法の多くは解が1つしか求まらないため,複数の解を求めるには初期点などのパラメータを変えてやり直さなければならないといったような工夫がなされている.1度の計算で複数の異なる解を提示する方法があれば,目的関数や制約条件を変更しても再計算しなくて良い可能性がある.本研究では,免疫アルゴリズムを改善し,ジョブショップスケジューリング問題を含むいくつかの問題に適用し,研究手法の有効性を検討する.

  • 領域遺伝型遺伝的アルゴリズムの開発(複数の局所解を探索するための適応度関数の提示):複数の局所解を探索するための適応度関数の提示

    荒川 雅生, 宮下 朋之, 石川 浩

    日本機械学会論文集C編  

    発表年月: 2004年

     概要を見る

    In some cases of developing a new product, response surface of an objective function is not always single peaked function, and it is often multi-peaked function. In that case, designers would like to have not only global optimum solution but also as many local optimum solutions as possible, so that he or she can select one out of them considering the other conditions that are not taken into account priori to optimization. Although this information is quite useful, it is not that easy to obtain with single trial of optimization. In this study, we will propose a screening of fitness function in genetic algorithms, and give rough search for local optima. Once after they are obtained we will carry out local search to obtain multiple quasi-optimum solutions. In this paper, we demonstrate the effectiveness of the proposed method through a simple benchmark test problem.

  • 最適設計におけるパラメータスタディツールの開発(OS.5 最適化技術の応用)

    宮下 朋之, 斎藤 知之

    日本機械学会関東支部総会講演会講演論文集  

    発表年月: 2004年

  • 切除平面を考慮した協調最適化法に関する検討(設計と最適化III)

    宮下 朋之, 乾 正知

    設計工学システム  

    発表年月: 2004年

     概要を見る

    In design processes, designers have to propose many design alternatives to satisfy requirements for products and evaluate considering many features or properties of design. Then a final design should be decided from many discussion and evaluation. In these processes, conflicts among designs can be often seen and sometimes designes take time to solve conflicts through discussion and so on. The Multi-objective optimization techniques are useful to consider trade-off between conflict properties. However, in these techniques, unification of objective functions is necessary and in almose case, unification function with weights that should be decided before optimization is used. In this study, we have extend previous proposed evaluation method of designs using cutting plane for weights in Data Envelopment Analysis and evaluated its effectiveness through some numerical examples.

  • 多様性を考慮したジョブショップスケジューリング問題の検討

    日本機械学会  

    発表年月: 2003年10月

  • 離散的な形状表現に基づく幾何学的に滑らかな工具経路の生成

    日本精密工学会  

    発表年月: 2003年10月

  • A Development of Collaborative Design System using Data Envelopment Analysis

    JSPE Precision Engineering Conference (Spring) / JSPE  

    発表年月: 2003年03月

  • データ包絡法を用いた協調設計システムの構築

    日本精密工学会  

    発表年月: 2003年03月

  • 離散的な形状表現に基づく幾何的に滑らかな工具経路の生成

    塚田 陽介, 宮下 朋之, 乾 正知

    精密工学会学術講演会講演論文集  

    発表年月: 2003年

     概要を見る

    金型の粗加工用の工具経路は多くが逆オフセット法を用いて計算され、逆オフセット面は離散的な情報に基づく微小な点の集合を元にした膨大な数の多角形の集合として得られる。本研究では、製品形状を構成する面、辺、頂点の情報に基づいて逆オフセット面を構成する点を分類し、より滑らかな工具経路を計算し表示することを目的とする。

  • 1312 多様性を考慮したジョブショップスケジューリング問題の検討

    長谷川 聡, 宮下 朋之, 乾 正知

    設計工学システム  

    発表年月: 2003年

     概要を見る

    In a production process design, it is required to define working time and scheduling by the number of a machine and performance but single solution is calculated when existing method is applied. It is necessary to propose some schedules and to assist a designer. In this study, immune algorithm is used and improved to solve jobshop scheduling problem known as a difficult problem in combination optimization problems and genetic algorithm is compared with immune algorithm for this problem. Through some examples, we showed that some optimal solutions and quasi-optimal solution could be found

  • 多様性を考慮したジョブショップスケジューリングの決定

    宮下 朋之, 乾 正知

    精密工学会大会学術講演会講演論文集  

    発表年月: 2002年10月

  • 金型粗加工のための逆オフセット面に基づく工具経路の生成手法

    崔 原己, 宮下 朋之, 乾 正知

    精密工学会大会学術講演会講演論文集  

    発表年月: 2002年10月

  • A Generation method for tool path using Inverse Offset Plane

    JSPE Precision Engineering Conference (Autumn) / JSPE  

    発表年月: 2002年09月

  • A Discussion on Job-shop Scheduling Problem considering Environment Properties

    JSPE Precision Engineering Conference (Autumn) / JSPE  

    発表年月: 2002年09月

  • A Study on Structural Optimization using Immune System

    JSME Mechanical Engineering Congress /JSME  

    発表年月: 2002年09月

  • 金型粗加工のための逆オフセット面に基づく工具経路の生成手法

    日本精密工学会  

    発表年月: 2002年09月

  • 多様性を考慮したジョブショップスケジューリングの決定

    日本精密工学会  

    発表年月: 2002年09月

  • 免疫システムによる設計最適化に関する研究

    日本機械学会  

    発表年月: 2002年09月

  • 2523 iSIGHT の提供する多目的意志決定環境

    宮田 悟志, 米澤 智志, 工藤 啓治, 廣安 知之, 三木 光範, 宮下 朋之

    年次大会  

    発表年月: 2002年

     概要を見る

    In design process, not one characteristic but are multiple characteristics should be offten considered. If all of the characteristics have no correlation each other, design problem would be very easily solved, however, in most of actual cases, there are significant correlations between those design characteristics and it makes design review difficult. Such kind of problem has been studied as Multi-Criteria Decision Making (MCDM) or Multi-Objective Programing (MOP) by researchers and have not been perceived as general tools for designers. Nowadays, however, such kind of tasks to meet several conflicting design/production requirements became common due to heigh product requirements. And design tools, which enable designer to perform MCDM or MOP in their usual design tasks, are desired. iSIGHT is a MDO (Multi-Disciplinary Optimization) software system developed by Engineous Software Inc. and has numbers of practical applications in design optimization problems. This paper introduces current functions and recent development efforts on MCDM and MOP in iSIGHT.

  • 3108 ネットワークを用いた分散設計環境の構築と基礎的検討

    宮下 朋之, 乾 正知

    設計工学システム  

    発表年月: 2002年

     概要を見る

    In design of machinary, computers are very useful and many jobs are aided by computer system and treated more efficient than before. Under recent sever economical environment, cost-benefit becomes important and many computer systems are developed for the sake to do jobs efficiently. Computer networks is the result of the ARPA project and now, this becomes important infrastructure. The success of the design system using computer networks becomes the key-point of the success of the bussiness and design of the product. In this fundamental examination, the authors have developed the design system for the design optimization under computer networks and tried to apply for the simple numerical examples.

  • 1310 分散したモデルの統合と協調設計に関する研究

    宮下 朋之, 乾 正知

    設計工学システム  

    発表年月: 2002年

     概要を見る

    The various information is treated in design processes by many designers. In the design of complicated machinary, designers often treat information and make various decision for the design. Recent years, computational power has been increasing and designers could discuss design problems from several points of view. Optimization methods offer reasonable design canditates from the early stage of design. However, in the discussion from several points of view, the unification of the distributed models is useful and it is difficult to make decision to settle design canditates. In the unification of the models, the overlap of the information often occures. In this study, we will develop the database that treats the overlap of the information and apply the developed system for the collaborative design. Through simple numerical examination, we will confirm the effectiveness of the developed system.

  • A Study on Structural Optimization using Immune System

    JSME Engineering Congress/JSME  

    発表年月: 2001年08月

  • 免疫エージェントによる最適設計に関する研究

    日本機械学会  

    発表年月: 2001年08月

  • 探索エージェントによる多点同時探索戦略を用いた最適設計法に関する研究

    宮下 朋之, 山川 宏

    計算工学講演会論文集  

    発表年月: 2001年05月

  • Report of Design Optimization and Satisfaction Research Commitee

    Report of JSCES/JSCES  

    発表年月: 2001年05月

  • 「多目的最適化設計・満足化設計」

    日本計算工学会  

    発表年月: 2001年05月

  • 探索エージェントによる多点同時探索戦略による最適設計に関する研究

    宮下 朋之, 山川 宏

    日本計算工学会  

    発表年月: 2001年05月

     概要を見る

    Many optimization methods and practical softwares have been developing for many years and most of them are very effective, especially to solve practical problems. But, non linearity of objective functions and constraint functions, which have frequently seen in practical problems, has caused a difficult situation for optimization. This difficulty mainly lies in the existence of several local optimum solutions. In this study, we have proposed a new global optimization methodology that provides an information exchange mechanism in the nearest neighbour method. We have developed a simple software system, which treated each design point in optimization as an agent. Many agents can search the optima simultaneously exchanging the their information. We have defined two roles of the agents. Local search agents have roles on searching local optima by an existing method like the steepest decent method and so on. Stochastic search agents investigate the design space by making use of the information from other agents. Through simple and several structural optimization problems, we have confirmed the advantages of this method.

  • 協調設計システムの検討−複合領域問題の検討−

    日本機械工学会  

    発表年月: 2001年03月

  • An Examination on Collaborative Design System

    Proc. of Design Eng. and System Conf./JSME  

    発表年月: 2001年01月

  • K-0215 免疫システムによる構造最適化に関する研究(J02-4 ALife他)(J02 設計・解析と最適化・適応化)

    宮下 朋之, 坪田 有玄, 山川 宏

    年次大会  

    発表年月: 2001年

     概要を見る

    Immune system in mammals plays a significant role on the survival in the case with attacking of various bacteria. This system seems to equip the mechanism eliminate the various vacteria. From the view point of information mechanism, this system could offer the designs that are considered with the environmental situation, for example, wind loads, deterioration and so on. Especially, immune algorithms are considered as the optimization algorithms. However, the immune algorithms are not fully established becase various algorithms are considered and fully investigated. In this study, from above point of view, we will propose the immune algorithm that treates the "antibody-antigen reaction". Through some numerical examples, we will show the effectivenews of th proposed algorithm.

  • 2110 協調設計システムの検討 : 複合領域問題の検討

    宮下 朋之, 山川 宏

    設計工学システム  

    発表年月: 2001年

     概要を見る

    Recent years, computational power has been incresing and designers could discuss design problems from several points of view. In these discussions, simulations using computers could offer useful information to evaluate their designs to develop profitable products exceeding the competitor's product. Optimization methods offer reasonable design canditates. However, in the design in which some technical fields are included, it is difficult to make decision to settle design canditates. In our previous study, we have proposed the method that led designers to collaboration and developed the software system. In this paper, we have examined the developed system through the some design problems.

  • 3402 近似最適化における近似精度を考慮した多目的設計支援に関する研究(OS03/近似最適化)

    宮下 朋之, 山川 宏

    設計工学システム  

    発表年月: 2001年

     概要を見る

    In optimization algorithms, the value of design variables are updated according to some criterion and it is nesessary to evaluate objective functions and constraints repeatedly if design variables are updated. In design problems, performances are often taken as the objective functions or constraints and it needs a time to evaluate the performances. A same situation is observed in the multi-objective optimization problems that can handle several objective function simultaneously and is suitable for the real design. Therefore it is desiable to decrease the number of evaluation count of the objective function and constrains. The response surface methodology is helpful for such a situation and many studies have been done. In real design problems, nonlineality of the objective function and constraints can been seen and this make the objective function or constraints the complex form about the design variables. On the other hand, in the mult-objective optimization problems, we have to calculate the pareto optimal set that could not be defined the inferiority or supriority among the solutions. The pareto optimal set forms the hyper plane in objective function space and the sensitivity of this plane make us to be able to do the trade-off analysis among the objective functions. The difficulty to obtain pareto optimal set could be seen in calculation because of the nonlinearity of the objective function and constraints. That is, it seems to be difficult to fund some part of pareto optimal set in probablistic method. In this study, we will approximate the pareto optimal set using response surface methodology and identify the region that needs evaluation. Through numerical example, we will discuss the fundamental charastaristics of the proposed method

  • 1104 スーパバイズエージェントによる協調設計に関する研究(OS04-1/コラボレーション・コンカレント設計(1))(OS04/コラボレーション・コンカレント設計)

    宮下 朋之, 山川 宏

    設計工学システム  

    発表年月: 2001年

     概要を見る

    In the case that mechanical system is large or complicated, design of the system is often divided into design of its components and integrated from design resulted from the devided design level. Therefore designers have to integrate their components design into final design. However, in this stage, it can be seen some conflicts and it is important to resolve these conflict to make shorten the leadtime of design process and make profit. Recently, we can widly use computers in various design stages and we can decrease the number of times of time-consuming real experiments using analytical software. It can be seen the situation that offices of designers are apart from each other and the same situation for computers and analytical software in the offices. In this research, we proposed the collaboration design method that resolve the conflict among designs connecting the computers using networks. In our previous paper, we have proposed the design evaluation method using Data Envelopment Analysis and calculation method of compromise design. We have confirmed that it is effective to offer compromise information in the stage of components design. In this paper, we have improved our proposed that can offer the direction for compromise design and confirmed the effectiveness of the proposed method through some numerical examples.

  • ネットワークを利用した協調的最適設計システムの構築及び検討

    日本機械学会  

    発表年月: 2000年10月

  • An Examination and A Development of the Collaborative Optimization System on Computer Network

    Proc. of System Optimization Symposium  

    発表年月: 2000年10月

  • An Examination on Structural Optimization using Immute Agents

    JSME Mechanical Engineering Congress/JSME  

    発表年月: 2000年08月

  • 免疫エージェントによる最適設計に関する研究

    日本機械学会  

    発表年月: 2000年08月

  • スーパバイズシステムによる多目的最適化に関する研究

    情報処理学会 MPSシンポジウム 講演論文集/情報処理学会  

    発表年月: 2000年03月

  • A Study on Multi-Objective Optimization using Supervise System

    MPS Symposium/IPSJ  

    発表年月: 2000年03月

  • 520 免疫エージェントによる最適設計に関する検討 : 抗原-抗体反応の検討

    宮下 朋之, 坪田 有玄, 山川 宏

    年次大会  

    発表年月: 2000年

     概要を見る

    We, human being, have survived and prosperd in a biological systems and an immute system plays a significant roll in protecting us against foregin bacillus. From the results of the study field in information processing, it is pointed out that the immute system is capable of learning, memory, pattern recognition and optimization using genetic operators. In the optimization of mechanical and structural designs, an environment of products is significant factor to decide the design. In this study, we will treate the design variables in the optimization problem as antibody and the environment as the antigen. We treated simple numerical examples and they resulted the design stored in memory-cell with best evaluation and worst evaluation considering environment. We have confirmed that the design canditates including the design obtained by mathematical programming are found among the results.

  • 119 ネットワークを利用した協調的最適設計システムの構築及び検討 : 満足化トレードオフ法の適用

    宮下 朋之, 山川 宏

    最適化シンポ  

    発表年月: 2000年

     概要を見る

    Recent years, financial difficulties led engineers to look for not only the efficiency of the function of a product but also the cost of its development. In order to reduce the time for the development, engineers in each discipline have to develop and improve their objectives collaboratively. Sometimes, they have to cooperate with those who have no knowledge at all for their own disciplines. Collaborative designs have been studied to solve these negotiations will be done successfully. However, in the most cases of real designs, manager of each discipline does not want to give up his or her own objectives to stress on the other objectives. In order to carry out these negotiations smoothly, we need some sort of evaluation criteria which will show efficiency of the product considering the designs by each division and if possible, considering the products of the competitive company, too. In this study, we use data Envelopment Analysis (DEA) to calculate the efficiency of the design and showed every decision maker the directions of the development of the design. We will call here these kinds of systems as supervisor systems and implemented these systems in computer networks that every decision maker can use conveniently. Through simple numerical examples, we showed the effectiveness of the proposed method.

  • A Study on the Collaborative Design using Supervise Agents

    Proc. of Design Eng. and System Conf./JSME  

    発表年月: 1999年11月

  • 複合領域設計システムの構築と検討

    日本機械学会 講演論文集/日本機械学会  

    発表年月: 1999年11月

  • An Examination and Development of Multidisciplinary Design System

    Proc. of Design Eng. and System Conf./JSME  

    発表年月: 1999年11月

  • スーパバイズエージェントによる協調設計に関する研究

    日本機械学会 講演論文集/日本機械学会  

    発表年月: 1999年11月

  • A Study on the Collaborative Optimization Using a Supervisor System

    Proc. of CJK-OSM1/JSME,KSME  

    発表年月: 1999年11月

  • Function of Gene in Adaptive Range Genetic Algorithms

    Proc. of CJK-OSM1/JSME,KSME  

    発表年月: 1999年11月

  • 多点同時探索戦略を用いた検索エージェントによる最適設計に関する研究

    日本機械学会 講演論文集/日本機械学会  

    発表年月: 1999年07月

  • 複合領域最適化における設計支援システムに関する検討

    設計シンポジウム99講演論文集/設計工学会他  

    発表年月: 1999年07月

  • An Examination on the Multidisciplinary Design Optimization System

    Proc. of Design Symp./JSME  

    発表年月: 1999年07月

  • An Examination on the Optimum Design by Search Agents With Multi-Start Search Strategy

    JSME Mechanical Engineering Congress /JSME  

    発表年月: 1999年07月

▼全件表示

学内研究費(特定課題)

  • 時間変動を考慮した設計プロセスの円滑な進展の支援技法に関する研究

    2021年  

     概要を見る

    研究開発活動において,投資の判断材料として技術ライフサクル上のステージの推移を捉えることは重要な課題である.特に近年,技術革新が加速し市場競争が激化するなかで,いち早く正確に技術ライフサイクルを捉える手段として定量的な技術進化の評価手法が求められている.一方,技術進化は他技術の動向や社会情勢といった外部の作用を受けるため,より正確なモデル構築にはこれらを考慮する必要がある.そこで本研究では,従来技術とそれに対して優位な類似の新規技術とが存在する競争系に関して,技術進化曲線モデルとウェーブレット変換を組み合わせた手法を提案し,類似技術の競合の定量的な測定によって合理的な投資判断に資することを目的とした.2. 研究方法競争系に関する技術成長曲線モデルとしてはLotka-Volterra方程式を用いた.Lotka-Volterra方程式は,内的自然増加率と環境収容力 によって決まる成長と,外的阻害係数によって決まる累積発明数に応じた相互の競合関係を表現した連立微分方程式である.外的阻害係数は正値の場合には阻害度,一方負値の場合には寄与度の表現となる.波形の足し合わせを原理とするウェーブレット変換に対して,外的成長阻害係数を含むLotka-Volterra方程式の描く非対称な曲線から得られるスカログラム上に現れる稜線は周波数の時間変化を反映してゆがみを生じ,そのまま同定を行うことが困難である.そこで,事前に外的な成長阻害による発明数の減少分を推定し除去することでウェーブレット変換に適した形に補正する式を導入した.この補正式を踏まえて,Lotka-Volterra方程式によって推定された技術成長曲線と特許出願数のデータそれぞれのスカログラム上の稜線を比較することで,技術ライフサイクルの波形の周波数推移を観察し,技術進化の動向を明らかにした.技術成長の計測手段としては,年間特許出願数の推移をデータに使用した.本研究では,事例研究として画像素子におけるCCDセンサとCMOSセンサに関する技術の特許出願数のデータを用いて,提案手法の有効性を確認した.CCDセンサとCMOSセンサに関する年間特許出願数の推移をウェーブレット変換したスカログラムを算出した。これに対し補正を行い稜線の同定を行った結果をと得られたパラメータによる技術成長曲線を同定した。同定されたパラメータからは,外的阻害係数は両者とも負値であることから画像素子におけるCCDセンサとCMOSセンサの競合は相互に技術成長を阻害する関係であることが確認された.また,外的阻害係数を比較するとCMOSセンサにおける値がより小さく,技術競争において優位であることが読み取れた.ウェーブレット変換を用いた競争系における技術進化曲線同定手法を提案し,類似技術の競合する製品開発において技術進化曲線の周波数の時間変化に相当するスカログラム上の稜線のゆがみに注目することが有用であることを示した.

  • 多重らせん折収納膜面の展開機構の考案と宇宙実証

    2020年   Parque VICTOR, 三浦 智

     概要を見る

    平面の膜面を収納するために、従来の円筒形状を変更し、角柱形状に収納する方法を考案した。さらに、角柱に巻き付く方向を逆転する方法を考案し、展開を容易に角柱形状へ収納する方法を考案した。展開においてはコンベックスrテープを使用して、展開する方法を検討し実証した。また、複数のらせん折形状の膜面を接続し、より大きな平面を複数の角柱形状に収納して展開する方法を提案し実証した。宇宙における実証については、革新3号機への実施プロジェクトへ応募し採択され、考案した膜面を搭載した人工衛星をイプシロンロケットによる打上げる契約を締結し、人工衛星を製作中である。

  • 触診術の定量的評価及び機械システムによる支援方式に関する研究

    2019年  

     概要を見る

    本研究では, 臓器の機械的特性をオンライン 同定するシステムを構築することを目的と する.ここで,以下二つの点に着目する.一点目は, 実臓器の形状から実環境に適した有限要素臓器モデルの構築である. 多くの従来研究では,長方形の単純なモデルを扱っているが, 本研究では,実際の豚肝臓から形状を生成したものを用いる. 二点目は臓器の材料特性 を求めることにより,正常部と腫瘍の両方を 同定することである.以上の目的を達成するために,本論文では, ,(肝臓モデルの数値実験, ,( ファントムを用いた物理実験の二つの実験を実施する.以下に各実験の概要を示す.(1)肝臓モデルの数値実験仮想環境上で肝臓の有限要素モデルに対して外力を与え,予め仮定した材料特性を推定する.(2)ファントムを用いた物理実験提案する手法の妥当性を確認するために,ファントムに対して外力を与え,測定した材料特性と推定された材料特性を比較する.肝臓モデルの数値実験では,肝臓の材料特性を同定するために肝臓の有限要素モデルに粒子フィルタを利用したデータ同化を適用した.Mooney-Rivlinの超弾性モデルを利用し,5つの材料定数を推定した.肝臓の有限要素シミュレーションモデルに観測した変位データと肝臓の初期条件を定義し,状態空間モデルに対して不確実性を伴う部分に確率密度関数を加え,粒子フィルタを用いて予測・フィルタリングを行い,尤度関数を最大とするパラメータを推定値とした.予め定義した材料特性を推定する双子実験を行い,材料特性は予め定義した材料特性に収束したため,粒子フィルタを用いたデータ同化を臓器の材料特性同定に優れる手法として決定した. また,提案した手法の妥当性を確認するために,ファントムを使用した物理実験を実施した.臓器モデルとして,腫瘍を内包した直方体ファントムを利用し,正常部と腫瘍部(直径20[mm]の球体)で弾性率を変化させ,それぞれの弾性率を推定した.ファントムを変形させるために,球体で鉛直に押し込み,3つのロードセルで力を観測した.また,レーザ変位計で押し込み量の変位データを取得し,ファントムの変形・力データからシミュレーションと融合することで,弾性率を推定し,自動的に弾性率を逐次更新するシステムを構築した.本システムによって同定された弾性率とレオメータによって測定された弾性率を比較した.データ同化によって推定された弾性率は正常部で15.85[kPa],腫瘍部で58.50[kPa]となった.一方,測定された弾性率は正常部で16.61[kPa],腫瘍部で53.37[kPa]となった.正常部と腫瘍部でそれぞれ相対誤差は4.58[%],9.61[%]となった.

  • 螺旋折絆創膏による簡便な体内の封止システムの開発

    2019年  

     概要を見る

    近年,内視鏡下外科手術は低侵襲な治療方法として注目されている.この手術では,身体に設置したトロッカーを介した内視鏡の視野下で,体内組織の治療やその後処置(組織接着,止血, 癒着防止等)を行う.通常の開腹手術では,可吸収性のシート剤を貼付することで簡便な後処置を行うことが多い.しかし,内視鏡下外科手術ではトロッカー内部の弁や作業空間の狭さから, シート剤を対象患部に送達するには工夫が求められる.代表的な工夫として,円筒状に丸めて小さく収納する方法,硬度のあるものと共に送達する方法等が挙げられる[1].しかし, 対象組織以外との接着の危険性や異物回収の必要性があり,確立された方法はない.そこで、本研究では,折り畳みによる体内貼付シートの収納を検討し, 優れた収納性と展開性を持つ内視鏡下外科手術での利用法を 提案することを目的とした.(1) 提案技法体内で対象組織以外との接着を防ぐには,効率の良い収納方法が望まれる.従来の円筒状に丸める方法では,円筒の高さ方向の収納ができない.そこで,全方向に収納可能な螺旋折を体内貼付シートに施すことを提案した.螺旋折りを施した膜面は,小さな円筒形状に収納され,両端を引張り展開する.螺旋折りを施した膜面の簡便な展開が可能な4 本脚アプリケータの設計をした.体内貼付シートを紙の内部に重ね折りして,アプリケータと紙を接続することで, 展開時にシートのみを分離することとした。&nbsp;(2) 展開実験と寸法最適化展開実験では,滑車に吊るした荷重によりアプリケータの糸に張力を付加して,4本脚及び体内貼付シートを展開させた. シートが紙から分離するときの展開率と引張力を測定した.体内貼付シートは可吸収性止血剤の SURGICEL®(Johnson &amp; Johnson)を使用した.螺旋折りを施す膜面の角数,収納した際の相対高さ,アプリケータの筒から展開部までの突出し長さを設計変数として実験計画法を実施した.得られた実験点に対して 625[mm2 ],1250[mm2],1875[mm2]の3種類の面積でそれぞれ3回の実験を行い,その平均を元に最適化を実施した.目的関数は収納体積,収納可能面積(筒の内径に収納できる面積の最大値),展開率,引張力,総突出し長さ(突出し長さと脚長を合わせた長さ) とした.展開実験の結果,収納体積と展開率・収納可能面積,引張力と総突出し長さの間にはそれぞれトレードオフの関係があった.そのため,それぞれを満足化する条件として四角形,相対高さ 34.0%,突出し長さ 23.0[mm]を選定した.この条件で展開実験を実施した結果,収納体積 538[mm3],展開率 69.8%,引張力 558[gf]を得た.応答曲面による予測値との誤差率はそれぞれ 1.76%,3.98%,2.88%であり,正常に応答曲面の近似と実験が実施されていることが確認できた.面積が 1875[mm2]の時の折り目と展開実験結果を以下に示す.体内貼付シートを螺旋折りにより収納し,4本脚アプリケータにより展開させる方法を提案した.優れた収納性と展開性を得るために,螺旋折りのパラメータとアプリケータの寸法を展開実験の結果によって最適化できた.

  • 金属スペースデブリの蒸発による非デブリ化

    2018年   三浦智, パルケ・ビクター

     概要を見る

    宇宙空間に存在する構造物の非デブリ化を可能とする新たな技術を構築するものである。宇宙空間における高真空環境及び輻射熱入出力が支配する特徴を活かして、熱環境(断熱・輻射)を最大限に活用し、構造物の主要材料であるアルミニウムを気化温度へ到達させ、宇宙空間に放出するものである。地上においての既存技術を活用し以下のような検討を実施した。①非デブリ化対象衛星への熱源素子の取り付け方法の考案 機能停止した人工衛星は回転運動しており、その衛星を非デブリ化するための機器を設置する技術の考案及び好適の検討②高真空環境及び輻射熱入出力環境におけるアルミニウムの気化手順および条件の明確化 高真空環境において、太陽光にによる輻射熱入力を効果的に利用することによるエネルギを低減した加熱方法の検討③気化したアルミニウムの飛散管理手法の確立 宇宙空間において、構造物の破壊を生じさせないデブリの粒子寸法として粒径が0.1mm以下であるという基準を充足することが必要である。一方、この飛散粒子をイオン化して電場を通して加速することにより、イオンエンジンと同様の原理により推力を得ることができる。イオンエンジンを机上検討及び試作を実施し、発生させたイオン状アルミニウムによる効果を見積もった。

  • 螺旋折絆創膏の設計手法に関する研究

    2018年   三浦智, パルケ・ビクター

     概要を見る

    近年,内視鏡下外科手術は低侵襲な治療方法として,身体に設置したトロッカーを介した内視鏡の視野下で,体内組織の治療やその後処置(組織接着,止血,癒着防止等)を行う.通常の開腹手術では,可吸収性のシート剤を貼付することで簡便な後処置を行うことが多い.しかし,内視鏡下外科手術ではトロッカー内部の弁や作業空間の狭さから,シート剤を対象患部に送達するには工夫が求められる. 本研究では,折り畳みによる体内貼付シートの収納を検討し,優れた収納性と展開性を持つ内視鏡下外科手術での利用法を提案することを目的とした.展開実験により、 螺旋折りを施す膜面の角数,収納した際の相対高さ,アプリケータの筒から展開部までの突出し長さを設計変数として実験計画法を実施した.得られた実験点に対して625[mm2 ], 1250[mm2],1875[mm2]の3種類の面積でそれぞれ3回の実験を行い,その平均を元に最適化を実施した.目的関数は収納体積,収納可能面積(筒の内径に収納できる面積の最大値),展開率,引張力,総突出し長さ(突出し長さと脚長を合わせた長さ) とした.&nbsp;

  • 超小型人工衛星WASEDA-SAT3の各種試験による性能評価

    2016年  

     概要を見る

    超小型人工衛星WASEDA—SAT3の開発に際して,各種の試験を実施した.振動試験,熱真空試験,環境適合性試験を実施し,機能動作試験及び総合試験を実施した.このための運搬作業・学外試験場を利用した振動試験および試験による修繕・改良作業・成果公表などへの本支援を受けた.本衛星では,以下の2点において,新たな試みを実施している.一つは,パラボラ曲面のらせん折り様式による収納された膜面の展開実験であり,二つは,LCDパネルの稼働・非稼働による輻射熱流出量の制御の実験である.膜面の形状確認のため,小型プロジェクタ及びカメラを搭載し,公募映像を搭載している.JAXAへの受け渡しが完了し,ISSへの輸送あとに,ISSより放出された.

  • ラジオ波焼灼療法における力学特性を活用した柔軟針の穿刺操作と焼灼制御

    2016年   三浦智

     概要を見る

    ラジオ波焼灼療法では,電極を患部付近に伸展させ通電させ,患部を焼灼する手技である.侵襲が少なく手術が可能であるものの,電極を的確な位置に配置することや通電する電力を的確に制御することが患部に位置する悪性細胞の焼灼の確率を高め,周辺の正常細胞の確保の確率が高まる.そこで,本研究では,(1)力学情報を用いた患部の位置同定,(2) 柔軟性を有する針を患部位置に到達させる力学的作用様式の検討,(3)針に通電させる電力の制御を目的として検討を進めた.

  • モデル予測制御法を用いた熱治療における組織凝固領域の状態推定アルゴリズムの導出

    2015年   山川宏, 藤江正克

     概要を見る

    焼灼された生体組織の凝固に伴い硬化する特性に着目し,温度が異なる環境で粘弾性率を測定した.粘弾性率が急激に増加する境界温度が,肝臓の主要成分であるタンパク質の不可逆的変性温度に近く,粘弾性率が凝固の指標として有用性を確認した.焼灼条件の昇温速度が異なる場合組織の粘弾性率の温度依存性が異なった.さらに,生体組織の変性状態に応じたエネルギの導出を目的として生体組織の熱容量を用いて変性状態の推定手法を提案した.示差走査熱量測定を用いてラジオ波焼灼したブタ肝臓組織の熱容量の測定結果では電極針の近傍組織のみの熱容量の結果にピークが表れ,熱容量のピークの有無によって組織の可逆と不可逆的変性が判別できた.

  • 超小型人工衛星による薄膜展開構造の実証研究

    2015年  

     概要を見る

    外形約12cm四方である超小型人工衛星の打ち上げが2016年度に予定している.衛星開発に必要な材料及び試験環境の構築を実施した.使用材料は米国軍事規格材料の使用が要求されており,一定の費用を充当し購入した後に衛星機体の製造を完了した.一方で,本衛星の重要な機能である直径約80cmの曲面らせん折り膜面の展開のため,真空環境試験環境の整備と試験を実施した.曲面らせん折り膜面はミウラ折りを発展させ,当研究室において改良が施されたものであり,宇宙空間での実証は世界初となるものである.また,LCDパネルを搭載し,熱輻射の入出力を制御する機能を有し,この点においても宇宙空間の実証は世界初となるものである.

  • 衝撃荷重が作用する縮小人体モデルの構築

    2013年  

     概要を見る

    機械構造物が社会の中において重要な役割を果たし,多くの人間との接点を持つ状況で,機械が所望される機能と性能を実現するために,設計者は安全性を十分に考慮するようになっている。しかしながら,人間と機械の特性の相違が顕著となる衝撃荷重が作用する状況や一度に多くの人員が相互に接触する状況が発生し,座席等の機械設備とも力学的な相互作用を発現し,人体の損傷に影響する状況を十分に設計時に加味することは容易ではない.解析技術では計算規模が大きく,考慮すべき境界条件,荷重条件へロバストに適応する必要があり,計算負荷が高い.一方で,実験技術においては,実物が大きい場合には,その取扱いや実験の実施には多大な費用と時間が要する.従来の縮小モデルでの衝突事件で用いられた人体モデルは,衝突時の各身体部位の変形が考慮されていない簡易なモデルであった.そこで本研究では,相似則を用いて設計した人体ダミーモデルをラピッドプロトタイピングにより製作し,衝突時の応答特性の評価を行った.評価は側面衝突用ダミーの生態忠実性について記されたISOのテクニカルレポートTR9790(3)に従って行った.また,皮膚や筋肉を模擬した軟組織を付けたモデルに対して有限要素法解析によるダミー評価試験のシミュレーションを行い,ダミー胴体のリブの幅,胸部を覆う軟組織の厚み,軟組織の弾性係数を設計変数として応答波形の最適化を行った.最適化されたモデルを再びラピッドプロトタイピングにより製作し,評価実験を行うことで解析との整合性の確認と,生態忠実性の向上を確認した. 相似則を用いて縮小ダミーを設計・製作し,ISOのテクニカルレポートに従って胸部,腰部,腹部の生態忠実性の評価試験を行ったところ,ダミー全体で10点満点中4.615点,5段階評価にすると上から3番目の「Fair Biofidelity」という評価であった.部位ごとに見ると胸部の生態忠実性が特に低かったため,皮膚を模擬した軟組織を導入し,リブ幅,軟組織の厚み,軟組織の弾性係数を設計変数として解析による最適化を行った.その結果,胸部インパクト試験の応答波形の最大荷重を30.4%だけ応答目標に近づけることができた.また,ラピッドプロトタイピングで製作した最適化ダミーでも評価試験を行い,最適化前のモデルと比べて最大荷重が34.3%応答目標に近づいた. 以上より,人体ダミーモデルの定量的評価と,解析を用いた最適化による人体モデルの改善に成功した.

  • 初期設計段階における設計評価の統合に関する研究

    2013年  

     概要を見る

    機械構造物の設計では、市場調査の後、概念設計、基本設計、詳細設計、生産設計などの段階を経て、その形状が決定されていく、さらに近年では、構造物の生産、消費、廃棄などの生産・消費活動における機械構造物の役割を十分に想定した設計が求められ、実際の市場評価と統合され製品設計にフィードバックされる。このように各種の事柄を精度よく想定することが必要となり、さらに、各種の事柄の同時成立性を考慮した唯一の製品を設計していくことが必要となる。このため、通常は構造物の特性は多くの事柄が密接に関連し、設計の評価は、多くの視点より多次元に評価されることになる。複数の評価尺度が適用される機械構造物の設計では、近年のリードタイムの短縮への要求に伴い、設計の初期段階である概念設計における精度の良い設計評価を実施することが設計手戻り低減にともなうリードタイム短縮を可能とし、さらに、円滑な設計工程の進捗に寄与するものと考えられる。そこで本研究では、設計者及び市場の満足度を考慮した設計支援法の構築を目的とする。平成25年度は、設計者の選好や顧客のニーズを含めた設計への満足度に影響する要因項目より満足度を算出する満足度関数(下図左)を定義する。これを利用した設計者の意思決定支援法(下図右)を改良・考案し、設計実験を実施し評価することを目的とし,車両構造物を対象として,以下の方法を提案し,計算実験を実施した.適用対象構造物として,車両構造物を選定し,その設計変数となる設計指標を選定した.車両構造物が有する機能構造および評価指標の明確化のため,Design Structure Matrix法により構造物が有する設計指標の関連を設計者による一対比較により明確にした。一般的には,設計指標は定量的に表現できるものが多く,その増減の場合を分け,関係性を明確にした.明確にされた構造をもとに,シグモイド関数関数を用い満足度関数を定式化した.車両構造物の性能評価には,非線形有限要素法を適用し導出し、衝突安全性の観点から,評価され定量化した。(4)多目的最適化手法による評価実験満足化トレードオフ法により,満足度関数を目的関数として,車両の構造設計問題ついて適用した.通常は物理量により直接に表現される目的関数により評価されパレート解が得られ,その後に,設計者の主観を活用した評価がなされる.この評価過程およびトレードオフ分析により,希求水準の試行錯誤が行われ,最終的な選好解が決定されていく.本研究での提案手法により,この試行錯誤が減少する効果が認めれた.

  • 医療画像からの力学情報の直接抽出と利用法の開発

    2011年  

     概要を見る

    画面描写等に必要な計算処理を行う半導体集積回路であるGraphics Processing Unit(GPU)の計算能力は近年飛躍的に向上しており,今日では浮動小数点の計算速度ではCPUを大きく上回っている.このGPUの計算能力を画面描写以外の用途で用いることが試みられており,GPGPU(General Purpose computing on GPU)と呼ばれている.GPUは非常に多くのストリームプロセッサを持ち、並列処理でとても高い計算能力を持つ。このことから、動画のエンコーディングや音声処理、フーリエ変換などの並列度の高い計算においてGPGPUを適用することで計算速度を大きく向上させることができる。本研究では、CTやMRIなどの撮像装置より抽出した画像を格子状のセルとセル毎に定められた計算則からなる離散的計算モデルとして、直接に利用する計算法を構築した。すなわち、セルラ・オートマトン法(以下C.A.法)を利用した弾性体の解析手法を提案し、その演算の並列性に注目し、GPUによる高速演算による処理を可能とした。特に、本研究では、C.A.法を用いた粘弾性体のクリープ解析手法を提案し、更にCUDAに適用することで高速化を目指す。粘弾性の代表的なモデルとしてフォークトモデル(Voigt Model)とマクスウェルモデル(Maxwell Model)の2つが挙げられる。本研究ではクリープ解析挙動を表現することに適しているフォークトモデルとして定式化した。 C.A.法で使用する状態遷移式は解析対象を細分化した微小物体の運動を考えることで立式し、離散化することで導出することができ、解析対象の内部、表面などの境界条件によって遷移式を用意する必要がある。そのため、解析方法は基本的には弾性体の解析と同じであるが、粘性項を含むことにより変位の時刻暦応答依存を解き定式化した。C言語とCUDAにて作成したプログラムを用いて提案手法GPGPUによる解析結果、時間について考察した。GPGPUを適用することで、GPUのマルチプロセッサを生かした並列度の高い演算をすることができるようになる。立方体を模擬したセルに対して初期変位を与え、クリープ挙動を見る解析を行い、その際の解析時間と解析精度を比較した。C言語とCUDA双方の解析において、同様の結果を得ることが出来た。また、解析速度は、セル数が多く計算量が多くなるほどCUDAが高速という結果を得ることができ、提案手法の有効性を確認した。

  • オンライン同定法による力学情報統合システムの構築

    2010年  

     概要を見る

    本研究は、材料特性の同定の精度を向上させるため、実際の臓器への力学的作用を明確にする実験中に取得した形状データを使用し、臓器の材料特性の更新を実現した同定法を検討するものである。本年度は、肺構造を対象にし、有限要素モデルの作成および準静的粘弾性解析や粘弾性解析などを実施し、材料特性、境界条件および肺構造のモデル化粒度との関連を実際の実験との整合性を考慮し調査した。また、解析手法として収縮要素を効率的に取り扱う方法についても検討を加えた。材料特性は肺胞や気管支の特性の中庸な特性で変形形状を表現できることが確認できた一方で、気管支構造の影響が高く表れる部位が明らかになり、モデル構築への指針を得ることができた。また、摩擦に関する境界条件は大きな影響を及ぼさないことが明らかになった。

  • FPGAを用いた粘弾性物質保持システムの構築

    2008年  

     概要を見る

    近年,コンピュータの性能向上に伴い,大規模な有限要素モデルの取扱が可能となりつつあり,従来は計算が困難であった現象の解析や計算時間が短縮され,設計工程へ有限要素法を実装した机上シミュレーションソフトウエアの導入も進んでいる.コンピュータの基本性能の向上に加え,ハードウエアも進歩が見られ,例えば,グラフィックスハードウエアやFPGA(Field Programmable Gate Array)に作成したプログラムを転送し高速に実行できる環境が整いつつある.本研究では,有限要素法をFPGAを用いて高速に実行可能とすることを目的とし,特にロボットなどの動作機械におけるダイナミクスの推論エンジンとして活用することを視野に入れ,特に,ロボットアームにより取扱が困難である“やわらかい”物質の保持や移動を対象にした動作計画を支援するために,有限要素法による計算手順にリアルタイム性を実現できることを目標にアルゴリズム考案やシステム開発を実施し検証を行う.具体的には,(1)FPGA及びFPGA用プログラム開発コンパイラを購入し,運動方程式の求解アルゴリズムのいくつかを実装し計算時間を比較し,(2)既所有の摩擦測定装置を活用したロボットアーム先端及び保持部と粘弾性物質間の摩擦測定を実施する.(3)FPGAの並列性を活用する有限要素法及び時刻暦応答計算の実装方法を検討し実装を行うこととし,(1)運動方程式の求解アルゴリズムとしてRunge-Kutta法,Newmark-b法,Wilson-θ法をソフトウエアのみで実装し,そのなかからFPGAへの実装に適したアルゴリズムの選定を行った.この選定は,単純に移植するのみでは,その計算時間面にて不十分であるとの結論を踏まえて選定し,ルンゲクッタ法を対象とし,さらにルンゲクッタ法の状態行列を対角化し多元の状態更新式を並列に実行できるアルゴリズムを検討した.すなわち,並列化アルゴリズムとして実装することが必要との結論に至った.(2)摩擦測定装置により摩擦を測定し,速度依存項を同定し力学的境界条件の同定を行った.

  • グラフィックスハードウエアを用いた簡便な有限要素解析計算法の構築

    2006年  

     概要を見る

    本研究は,従来はコンピュータの中央演算装置(CPU)が担っていた計算機能の一部をグラフィックハードウエア(GPU)を活用し計算効率を向上させることを目的としている.構造解析を対象とし,形状変化の運動方程式の求解と,材料配置に関する位相最適化問題を取り扱った.形状変化の運動方程式の求解については,3次元立体について,CPUのみ処理時間及び商用解析ソフトウエアとの比較検討を行い,約10倍の速度向上が明らかになった.また,材料配置に関する位相最適化問題については,2次元画像を対象に従来手法と同様な結果を得ることが確認できた.

  • グラフィックスハードウエアを用いた有限要素法の高度化に関する検討

    2005年  

     概要を見る

    本研究は,従来はコンピュータの中央演算装置(CPU)が担っていた計算機能の一部をグラフィックハードウエア(GPU)を活用し計算効率を向上させることを目的としている.特に,構造解析問題を対象とし,与えられた荷重・境界条件より,2次元応力場における基礎式を充足する解を導出することになる.本研究では,この基礎式を満足するための計算法としてセルオートマトン理論を利用し,GPUで計算を可能とするデータ構造を提案し,実際に計算実験を行った.構造形態を示すデータは,その形状を表す画像データとして与え,その画像に境界条件,荷重条件を示す特異な画像を挿入することにより計算が可能となり,画像取得にはデジタルカメラなどの映像機器の利用が可能であることから利便性を有するものである.さらに,構造形状を決定するために従来より用いられている最適設計法の検討を試み,学会発表を行った.一方で,ハードウエアによる計算時間の短縮は近年のCPUの計算速度の向上に伴うことが考慮されるが,わずかながらの向上にとどまっている.一方で,3次元データへの拡張を試みた.ここでは,MRIで取得される積層画像を対象として,計算可能とするデータ構造を考案した.実装するにあたり,動的問題への拡張への必要性を認識し,その点を考慮しデータ構造を考案した.この部分に関しては,現在,計算実験中であり,その成果が得られ次第に発表を行う予定である.

  • エージェントベース協調設計法に関する研究及び協調設計システムの開発

    2001年  

     概要を見る

    複数の設計者が複数の異なる技術分野に属するような複合領域における設計問題においては,競合した設計要求や設計指標の協調をはかり設計候補を絞ることが重要であることをまず指摘した.ここでは,技術領域が複合するために設計指標間の比較や単一化の困難が生じるために,単一化可能な合理的な評価尺度を構築するためにデータ包絡分析法を工学問題に適用する工夫を施した方法を提案した.さらに,設計者の妥協を形成するために妥協案を算出する方法を提案した.これらの提案した方法に加え,設計者の妥協状況を判定する方法を提案し組み合わせることにより,妥協のための各種の情報を設計者に提示する擬人的な設計者をスーパバイズエージェントとして,コンピュータネットワークを利用したシステムとして開発した.すなわち,コンピュータネットワークを介して設計問題を地理的に分散する設計者や解析ソフトウエアなどの人的および物的資源を統合したシステムを開発している.提示した設計案の評価方法により得た評価値を向上する設計案を設計者に提示するよう要求することにより,競合する設計者間が妥協する設計案が得られることが明らかになり,スーパバイズエージェントが提示する妥協案を参考とすることにより,設計者の妥協形成に寄与できることを明らかにした.さらに,交渉状態に応じた妥協情報の提示度合いを変化させることにより,特に設計初期における妥協する意志の無い状況における妥協情報の提示の抑制が可能なこと,妥協が進まなくなった状況の設計者に対する設計案に近い妥協案を提示することにより,さらに妥協を進めることができることが明らかにした.また,実際の設計を行う場合に有用である商用解析ソフトウエアと最適化アルゴリズムを接続するソフトウエア部品を開発し,商用解析ソフトウエアの利用が可能となるとともに,各種,最適設計システムの構築において利用可能であることを確認した.

  • 免疫エージェントによる最適設計に関する研究

    2000年  

     概要を見る

     機械構造物の設計においては、複数の指標の向上を実現する設計解を、多くの制約条件を充足するように見出す必要がある。その設計解を求める手段として数理計画法が用いられている。一方、自然界に目を向けると、多くの制約が存在する自然環境において、多くの外的要因から生命の維持を実現している生命体が存在する。自然界における最適性を実現する仕組みとして、ほ乳類の持つ免疫機構が存在し、非常に多くの種類からなる抗原から、細胞体の維持を実現するために、抗体が大きな役割を果たしている。本研究では、この点に着目し、エージェント技術により、免疫機構をモデル化して、そのうち、抗原-抗体反応を利用して最適設計を行う方法として検討することを目的とする。ここでは、設計対象となる構造物の風荷重や地震などの外的要因を抗原と考え、部材配置や寸法などを内的要因として設計において定めるパラメータ(設計変数)を定める手法として、新たに提案した。いくつかの計算例によって、既存手法と比較することによりいくつかの点が明らかになった。(1)寸法最適化問題および位相最適化問題において、構造物の外的要因のうち、最も構造物の設計指標の悪化を最小限にとどめることができる設計案を導出できることがわかった。(2)多様な抗原に対する防御システムであるため、複数の極値を持つ多峰性の設計問題の場合においては、複数の局所的最適解を導出でき、単峰性の設計問題の場合には、最適解が求まることに加え、その周辺の解を導出でき、設計変更において、最適解が利用できず再計算を実行しない場合に、次善の解として利用できることがわかった。一方、計算中において設計候補の評価回数が多く必要となる欠点が認められた。この点を克服するために、(1)設計変数に関する目的関数や制約条件の感度を利用する種類の既存手法と組み合わせた計算法の構築や(2)応答局面法による近似的な局面生成技術を検討することが必要であると考えられ検討を加えている。

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海外研究活動

  • 解析手法の高度化及びその応用に関する研究

    2011年03月
    -
    2012年02月

    マレーシア   (マラヤ大学)

    アメリカ   マサチューセッツ工科大学

 

現在担当している科目

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担当経験のある科目(授業)

  • 加工学・実習

    早稲田大学  

  • 宇宙構造の設計と制御

    早稲田大学  

  • 宇宙科学技術

    早稲田大学  

  • 機械構造の最適化・満足化

    早稲田大学  

  • 振動工学

    早稲田大学  

  • 材料力学

    早稲田大学  

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