研究一覧（1998年1月〜12月）

ファジィ数理計画に基づくCO2レーザ加工条件の最適化
　　布引雅之，木暮徹志，仁木　努，野波正信，奥田孝一，長谷川素由
　　精密工学会誌Vol.64, No.1, pp. 116-120 (1998)

Although it is still difficult to clarify the relation between cutting quality and the cutting conditions with influencing of complexities of its cutting mechanism, laser cutting has been recognized to be an indispensable technology in the recent untraditional machining. This paper deals with methodology to optimize cutting conditions such as laser power, gas pressure and cutting velocity for CO2 laser cutting of steel. This methodology has five stages. Firstly, experiments are carried out to collect data of surface characteristics produced under the various conditions. Secondly, using experimental data, multiple regression models of surface characteristics are constructed. Also, profit rate of CO2 laser cutting is formulated. Thirdly, evaluation functions are determined as to fuzzy membership function. Fourthly, optimum cutting condition based on the fuzzy mathematical programing is deduced. Finally, the satisfactory cutting condition obtained by this methodology is verified experimentally.

新起業創造支援に関する一考察
　　布引雅之，奥田孝一，長谷川素由
　　精密工学会1998年度関西地方定期学術講演会講演論文集，pp.87-88.(1998)

新起業創造過程においては，新規事業を取り巻く環境や取り得る企業戦略が不明確であることが多く，その目的すら明確でない場合もある．このように解くべき問題が曖昧であるために，個々の起業家を支援するためには，まず問題を分析して問題の構造自身を明確にする必要がある．本研究では新起業創造過程という問題の分析にＩＳＭを応用した構造化手法を提案し，その有効性を示した．

尺取虫型ロボットの階段登りに関する研究
　　滝田好宏＊，長谷川素由，布引雅之
　　　＊防衛大学校
　　日本機械学会論文集Ｃ編，64，623，pp.261-266(1998)

Being buried to death under collasped houses without being found became a big issue during a major calamity. The development of a robot which finds life in the suffering district is needed as soon as possible. In this research, the method of moving the inchworm-type robot is being developed for the purpose of the rescue. This robot has the ability to traverse obstacles such as the stairs with fewer joints than the wheel type and the legged type. The selfstanding inchworm robot which has five links and four joints is made for trial purposes. In order to achieve climbing stairs for this robot, the kinematical analysis and the development of the program was researched. As a result, the effectiveness of this robot is confirmed by the experiment.

尺取虫ロボットによる障害物踏破
　　滝田好弘＊，長谷川素由，布引雅之
　　　＊防衛大学校
　　第16回ロボット学会学術講演会予稿集，pp.525-526.(1998)

An inchworm robot is constructed with 5 links and 4 controlled joints. In order to demonstrate more abilities of the inchworm robot, this paper realizes the climbing over an obstacle whose height is higher than on link. The effectiveness of this robot is confirmed by the experimental results.

尺取虫型人命探索ロボットの狭路移動に関する研究
　　布引雅之，長谷川素由，奥田孝一，滝田好弘＊，古瀬信浩
　　　＊防衛大学校
　　第16回ロボット学会学術講演会予稿集，pp.1149-1150.(1998)

It is necessary to develop rescue robots for earthquake victims in disaster-stricken area immediately after earthquake. The robots have to go ahead over obstacles and through narrow paths to find lives under destroyed houses. The developed robot is multi-link robot. This paper proposes a concertina gait for this robot to climb up a vertical narrow pass.

基本設計における多目的意思決定支援に関する研究
　　布引雅之，長谷川素由，奥田孝一
　　１９９８年度精密工学会秋期大会学術講演会講演論文集, p 232 (1998)

基本設計過程においては，複数の独立でない評価項目に基づいて代替案の優劣を評価しなければならない局面が存在する．しかも各評価においては定量的情報と定量的情報が混在する場合もある．本研究では，このような曖昧かつ多目的な意思決定問題に対してＡＨＰやファジィ理論を応用した支援手法を提案する．

超精密切削加工面における結晶粒界段差のＡＦＭ観察
　　奥田孝一，長谷川素由，布引雅之
　　１９９８年度精密工学会秋期大会学術講演会講演論文集, p 583 (1998)

本研究は，無酸素銅，黄銅及びアルミニウム合金のダイヤモンド工具による超精密切削仕上面に生成される結晶粒界段差を原子間力顕微鏡により観察・測定し，被削材種，切削条件の及ぼす影響について検討したものである．無酸素銅では 10nm オーダ，黄銅では 40〜60nm の結晶粒界段差が測定された．また，切込みによる影響はほとんど見られないのに対して，送り量の増大に伴って段差が大きくなる傾向が見られた．

超精密切削加工における工具及び被削材の温度上昇
　　奥田孝一，長谷川素由，布引雅之
　　日本機械学会第７６期全国大会講演論文集，Vol. 5, pp. 371-372 (1998).

This paper deals with experimental analysis of the temperature rise on the cutting tool and the workpiece due to the cutting heat generated during an ultra-precision diamond cutting of Aluminum and 4-6 Brass. By using the infrared camera and the image processing unit, the temperature rises on surfaces of diamond tip, tool shank and workpiece are continuously measured during cutting. The mean temperatures of single crystal diamond tool and sintered diamond tool rise up to 3℃ and 10 ℃ from the initial state before cutting respectively, under the cutting conditions given in this study. The manner of temperature rise depends on the feed direction of the tool. The mean temperature rise on the workpiece is an order of less than 1 ℃.