Yoshifumi Kuriyama

Trajectory planning for meal assist robot considering spilling avoidance

In the near future, there will be a significant problem obtaining workers in the fields of welfare and nursing care because of a labor shortage. To solve this problem, many welfare robots, such as an upper extremity motion assistance robot and a meal assistance robot, have been studied. The purpose of this paper is to avoid spilling of the liquid when the spoon is transferred. In order to avoid spilling of the liquid, a spilling model was evaluated by using a CFD simulator. Thus, it was not necessary to build an exact model of the spilling model mechanism. The effectiveness of the proposed control is shown by CFD simulations and experiments.

Solution search algorithm for a CFD optimization problem with multimodal solution space

Optimization with a computational fluid dynamics (CFD) simulator has gained attention in various fields recently. Optimization is hampered by the increased computing time used by many localized solutions that complicate the calculation by needing a vast amount of space for solution generation and distribution. Therefore, researchers hope to speed the process and make the analytical time highly effective. In this paper, we propose an algorithm that reaches the best solution neighborhood from a complex solution space at high speed, and obtains the best solution. We have applied the algorithm to a real problem, and it worked.

Layout algorithm of searching point for a CFD optimization problem

Optimization with the aid of computational fluid dynamics (CFD) simulators has recently attracted attention in various fields. Optimization is often impeded by the increased computing time used by a large number of localized solutions, which complicate the calculation by consuming vast amounts of memory for generation and distribution of solutions. Therefore, researchers are actively seeking methods which would allow them to accelerate the process and make the analytical time highly effective. In this paper, we propose an algorithm that obtains the optimal solution by considering the layout of the search points for high-speed convergence performance. We also verify the effectiveness of the algorithm after applying it to an actual problem.

Fluid behavior control on die casting process by optimization of plunger tip shape based on practicable damage estimation algorithm

It is general to evaluate strength of a structure by the strain and the stress obtained by using the finite element method. The strong shape can be derived for an over load when these evaluations are used. However, it is not an enough evaluation if it thinks from the viewpoint used in a mid/long term. In this paper, we propose the damage estimation algorithm which estimates the damage of the structure by using the structure analysis and the linear cumulative damage law. Finally, this proposal method is develop to the optimization problem and we construct the optimization method of practical use which can design strong shape corresponding to cumulative fatigue while estimating damage. The effectiveness of this proposal method is shown by applying to the shape optimization problem of the plunger tip in the die-cast process.

Optimal algorithm to multimodal solution space formed by CFD simulator

For die-casting, various approaches to finding the optimal control settings and optimal mold by using a computational fluid dynamics (CFD) simulator have recently been studied and applied. However, the optimal value obtained by using a conventional CFD simulator does not consistently agree with experiment, owing to computational error. Accordingly, we analyze the problem of optimization with a CFD simulator in order to develop an optimization method that can consistently produce suitable results. To assess the effectiveness of the proposed method, it was applied to the optimization of plunger speed in die-casting.

3-D transfered control using spilling avoidance control for meal assist robot by using CFD simulator

In the near future, there will be a significant problem obtaining workers in the fields of welfare and nursing care because of a labor shortage. To solve this problem, many welfare robots, such as an upper extremity motion assistance robot and a meal assistance robot, have been studied. The purpose of this paper is to avoid spilling of the liquid when the spoon is transferred. In order to avoid spilling of the liquid, a spilling model was evaluated by using a CFD simulator. Thus, it was not necessary to build an exact model of the spilling model mechanism. The effectiveness of the proposed control is shown by CFD simulations and experiments.