Akihiro Hayashi

Automatic Collimation System by Talbot Interferometry

This study concerns the automatic high precision beam collimation system using the Talbot interferometry. When the collimation beam is obtained placed point-source of light in focal position of the collimation lens, the defocus value is calculated from a moire fringe width in the Talbot interferometry using only two grating. With the advance of collimation, the moire fringe cannot be confirmed. Using the movement of moire fringe when one of grating shifts, the expanded moire fringe width is measured high precisely from the phase difference of intensity change of two detecting points, using peak position of the cross-correlation coefficient. With the result of the defocus value, the collimator lens is positioned by motor controller.

Polycentric Framework for Robotic Kinematics

This paper proposes an generic framework of kinematics process for improving the operability of robotic systems. In the framework, metaphysical subsystems and connection rules are defined, and kinematics process is composed of a set of subsystems assembled by their connection rules in which input/output relation of subsystems are associated with each other. Kinematics of generic robotic systems is solved by cooperating the localized calculation embedded in subsystems. The framework is applied to case studies of the forward and the inverse kinematics problems of seven d.o.f. robot manipulator.

High Precision Collimation Using Talbot Interferometry

This study concerns the high precision beam collimation method using the Talbot interferometry. When the collimation beam is obtained by placing point-source of light in focal position of the collimation lens, the defocus value is calculated from a moire fringe width in the Talbot interferometry using two grating. With the advance of collimation, the moire fringe is hard to be confirmed. Using the movement of moire fringe when one of grating shifts, the expanded moire fringe width is measured high-precisely from the phase difference of intensity change at two detecting points. In this paper two methods are proposed. (1).Fourier image is approximated in the sine wave, and the phase difference is obtained by four-frames method. (2).The correlation coefficient is calculated, and the phase difference is obtained from the peak position of it.

Development of Software Platform for Realizing the Dynamic Reconstruction of Software Applications of Manufacturing Systems

This paper describes the development of a software platform for realizing the easy construction/reconstruction of software applications for manufacturing systems based on the distributed object approach. To maintain the productive capacity of manufacturing systems according to changes in production plans, it is required that software applications for constructing a manufacturing software system can be modified easily. This study aims to develop a software platform for providing that easy construction/reconstruction capability which can be further modified easily. This paper describes the concept of our software platform, technical development details and its functions.

Conflict coordination method for decentralized autonomous scheduling problem by means of self-organization schema

A flexible and adaptive artificial system must have two different capabilities: the diverse behavior of the system should be dynamically inducible, and the induced unstable behavior should be able to be coordinated into a specified stable state. It can be considered that flexibility is a phenomenon where a system has non-trivial behavior, and adaptability is the ability to find a certain state that is well-fulfilled in a specified situation from within such non-trivial behavior. A decentralized autonomous system framework gives the capability of flexibility for an artificial system by its instability characteristics being within the composition of its framework. On the other hand, adaptability can be derived by self-organization to coordinate the diverse systems behavior towards a certain state. This paper shows a formalism of self-organization in a decentralized autonomous system framework in a company with the feasibility of applying self-organization into a concrete engineering system problem.

Generation of NC Instruction Codes for Multi-axes Machine Tool by Simulation of Machine Tool Motion.

This paper presents a method of machine instruction code generation for multi-axis machine tool instead of the conventional manner. In the present method, each working part of multi-axis machine tool, cutting tool, and fixture are modeled as autonomous components and a mechanical simulation system is constructed by these autonomous components to simulate machining operation for multi-axis machine tool. NC instruction codes are generated by extracting motion of working parts made by performing mechanical simulation system model as the operative closure system served by mutual feedback among autonomous components under the constraints that are relation among working parts, cutting condition between cutting tool and workpiece, and interference with motion of cutting tool. This paper describes the concept of NC instruction code generation by performing mechanical simulation system as the operative closure system proposed in this study and details of evaluators and operators coded into the autonomous component for constructing such mechanical simulation system. Then effectiveness and feasibility of the proposed method has been estimated by performing the simulation and actual machining.