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MIZUNO Takeshi

Faculty: Graduate School of Science and Engineering TEL:
Position: Professor ■FAX:
Address: 255 Shimo-Okubo, Sakura-ku, Saitama City, Saitama 338-8570, JAPAN ■Mail Address:
■Web site:

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Assigned Class

School of Engineering
Institute of Ambient Mobility Interfaces

Academic Societies

Academic Societies
ASME
IEEE

Awards

1997 , Asia-Pasific Vibration Conference '97 Best Poster Award

Research

Books, Articles, etc.

Articles
A 3-DOF Modular Vibration Isolation System Using Zero-Power Magnetic Suspension with Adjustable Negative Stiffness
IEEE,Proc. of the 11th IEEE International Workshop on Advanced Motion Control (AMC2010):NF-003107, 661-666 2010
Hoque, Md., E., Mizuno, T., Ishino, Y., and Takasaki, M.

Development of Mass Measurement Devices for Zero-Gravity Experiments
Applied Mechanics and Materials,Proc. International Conference on Precision Instrumentation and Measurement 2010, (Conference Digest of CPIM 2010), Keynote Lecture:CD- CPIM_A009_mizuno.pdf 2010
Mizuno, T.

Friction measurement on a glass substrate using surface acoustic wave
Elsevier,Physics Procedia,3(1):1067-1073 2010
Hiroyuki Kotani, Masaya Takasakia and Takeshi Mizuno

Non-contact Ultrasonic Support of Minute Objects
Elsevier,Physics Procedia,3(1):1059-1065 2010
Masaya Takasaki, Daisuke Terada, Yasuhiro Kato, Yuji Ishino, Takeshi Mizuno

Study on Self-Sensing Electrostatic Suspension Using a Variable Capacitor
IEEE,Proc. of the 11th IEEE International Workshop on Advanced Motion Control, (AMC2010):NF-002526, 426-429 2010
Kato, T., Ishino, Y., Takasaki, M., and Mizuno, T.

Tactile Mouse Using Friction Control
IEEE,Proceedings of the IEEE Haptics Symposium 2010:313-316 2010
Masaya Takasaki, Horoyuki Kotani, Ryo Tamon and Takeshi Mizuno

Two-Dimensional Inverted Pendulum Using Repulsive Magnetic Levitation
Oldenbourg,Journal of Automatisierungstechnik,58(Issue 1):49-53 2010
Eirich, M., Ishino, Y., Takasaki, M.and Mizuno, T.

剛性切り替え制御による磁気浮上系の高耐荷重化
日本機械学会,日本機械学會論文集. C編,76(762):415-421 2010
石野裕二、水野毅、高崎正也

磁気浮上の新しい試み
精密工学会,精密工学会超精密位置決め専門委員会定例会講演前刷集,2009-5 2010
水野毅

多重磁気浮上システム(第1報,基本構想と基本定理)
日本機械学会,日本機械学會論文集. C編,76(761):76-83 2010
水野毅、高崎正也、石野裕二

表面張力を利用したマイクロアセンブリ 第2報,作動流体の検討)
日本機械学会,日本機械学會論文集. C編,76(761):69-75 2010
芳賀哲也、水野毅、高崎正也、石野裕二、加藤裕弘

連携大学院による地域型新生モノづくり教育推進プロジェクト
精密工学会,2010年度精密工学会春季大会シンポジウム資料集:61-66 2010
水野毅、池野順一

Analysis on the Effects of Stiffness in Mass Measurement Using Relay Feedback of Displacement
IMEKO,Proc. XIX IMEKO World Congress, Fundamental and Applied Metrology:171-174 2009
Mizuno, T., Ishino, Y.and Takasaki, M.

Application of Rotor Unbalance Compensation to an AMB-Based Gyroscopic Sensor
日本機械学会,Journal of System Design and Dynamics,3(4):572-583 2009
Maruyama, Y., Mizuno, T., Takasaki, M., Ishino, Y., Kameno H., and Kubo, A.

Dummy Finger for Surface Acoustic Wave Tactile Display -Vibration Characteristics-
IEEE,Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics:1669-1674 2009
Masaya Takasaki, Soju Nakajima and Takeshi Mizuno

Electrostatic Suspension Using Variable Capacitors
Japan Society of Mechanical Engineers,Journal of System Design and Dynamics,3(4):617-626 2009
Kato, T., Tsukada, S., Ishino, Y., Takasaki, M., and Mizuno, T.

Extension of Measurement Bandwidth in an AMB-based Gyroscopic Sensor
Elsevier,Mechatronics,19(8):1261-1268 2009
Maruyama, Y., Mizuno, T., Takasaki, M., Ishino, Y.and Kameno, H.

Pen Type Surface Acoustic Wave Tactile Display with Movable Tablet
IEEE,Proc. of The 18th IEEE International Symposium on Robot and Human Interactive Communication:454-459 2009
Masaya Takasaki, Ryo Tamon, Hiroyuki Kotani and Takeshi Mizuno

Proposal of A New Configuration for Magnetically Suspended Gyro
IEEE,Proc.of the 35th Annual Conference of the IEEE Industrial Electronics Society (IECON):1911-1916 2009
Maruyama, Y., Mizuno, T., Takasaki, M., Ishino, Y., Kameno, H.and Kubo, A.

Segment-Structured Diamond-Like Carbon Films, Installed on Driving Surface of Surface Acoustic Wave Linear Motor
IEEE,Proc. IEEE International Ultrasonics Symposium:1106-1110 2009
Mitsuru Nakamura, Yosuke Fujii, Hiroyuki Kotani, Masaya Takasaki, Takeshi Mizuno, Tsuyoshi Kuroda, Naoto Ohtake

Stiffness Control of Magnetic Suspension by Local Current Feedback
ECC,Proc. European Control Conference 2009:WeA12.2, 3881-3886 2009
Ishino, Y., Mizuno, T., and Takasaki, M.

ステータの運動を考慮した磁気軸受制御系の検討
日本機械学会,日本機械学會論文集. C編,75(753):1389-1396 2009
丸山裕、水野毅、高崎正也、石野裕二、亀野浩徳、久保厚

ものづくり技術の核 精密工学
横断型基幹科学技術研究団体連合,横幹,3(1):72-73 2009
水野毅

可変キャパシタンス機構を利用した容量型アクチュエータ制御システム
首都圏北部4大学連合,第6回首都圏北部4大学新技術説明会報告資料:23-26 2009
水野毅

磁気浮上系の局所フィードバックによる剛性制御
日本機械学会,日本機械学會論文集. C編,75(754):1763-1769 2009
石野裕二、水野毅、高崎正也

新規磁気浮上装置
首都圏北部4大学連合,首都圏北部四大学発「新技術説明会」資料集:65-69 2009
水野毅

弾性表面波を用いた摩擦制御とその応用
日本AEM学会,日本AEM学会誌,17(1):90-95 2009
小谷浩之、高崎正也、水野毅

変位相殺型アクティブサスペンションの開発
埼玉大学総合研究機構,総合研究機構研究プロジェクト研究成果報告書(6(平成19年度)) 200809
水野 毅

磁気浮上式マイクロジャイロセンサの開発
埼玉大学総合研究機構,総合研究機構研究プロジェクト成果発表会 : ポスター展示 200711
水野 毅

革新的超精密除振装置の開発
埼玉大学総合研究機構,総合研究機構研究プロジェクト研究成果報告書(5(平成18年度)):707-709 2007
水野 毅
Ultraprecision Active Vibration Isolation System

磁気浮上式マイクロジャイロセンサの開発
埼玉大学総合研究機構,総合研究機構研究プロジェクト研究成果報告書(5(平成18年度)):203-204 2007
水野 毅
Micro Gyroscopic Sensor using Active Magnetic Bearing

PWMを用いた弾性表面波リニアモータの速度制御(機械力学,計測,自動制御)
社団法人日本機械学会,日本機械学會論文集. C編,72(722):3236-3241 200610
小谷 浩之, 高崎 正也, 石野 裕二, 水野 毅
Surface acoustic wave (SAW) linear motor is a kind of ultrasonic motors. The SAW linear motor has several advantages, such as thin structure, high thrust force, high velocity and precise positioning. Relationship between applied voltage and output velocity, however, had non-linearity in low velocity range due to friction drive principle. Therefore the SAW linear motor cannot obtain stable driving without feedback control at low velocity. To realize low velocity, PWM (pulse width modulation) control and flexible slider structure are employed. The flexible structure is installed to cancel vibration due to PWM carrier frequency. In this research, PWM is applied for controlling the slider velocity. Lower velocity in non-linear range is realized. Influence of the flexible structure upon precise positioning is investigated.
Actuator, Ultrasonic Motor, Surface Acoustic Wave, Motion Control, PWM, Velocity Control, Positioning

磁路制御形磁気浮上に関する研究 : ボイスコイルモータを用いたシステムの開発(<小特集>運動と振動の制御の21世紀への新展開)
社団法人日本機械学会,日本機械学會論文集. C編,72(721):2869-2876 200609
水野 毅, 平井 雄三, 石野 裕二, 高崎 正也
A novel magnetic suspension system with three flux path control modules was developed. The module consists of a ferromagnetic plate, a voice coil motor (VCM) for driving the plate and a displacement sensor for detecting the position of the plate; the sensor is comprised of a V-shape plate spring and four strain guages pasted on it. The ferromagnetic plate is inserted into the gap between a permanent magnet and a suspended object (floator). The lateral position of the plate is controlled with the VCM and the sensor. Since the flux from the permanent magnet to the floator varies according to the position, the amplitude and direction of the attractive force acting on the floator can be adjusted by using multiple modules. Stable suspension was achieved by applying PD control. A fluctuation was observed in the position of the floator. It was reduced by feeding back the lateral motions of the floator. The two- or three-dimensional noncontact manipulation of the floator was also achieved in the developed magnetic suspension system.
Magnetic Bearing, Positioning, Motion Control, Electromagnetic Actuator, Magnetic Suspension, Flux Control, Permanent Magnet

診断機能を備えた歯科用超音波スケーラの開発(<小特集>運動と振動の制御の21世紀への新展開)
社団法人日本機械学会,日本機械学會論文集. C編,72(721):2727-2731 200609
丸山 裕, 高崎 正也, 久田見 朋範, 水野 毅
An ultrasonic dental sealer is an equipment to remove dental calculi from teeth. A conventional sealer consists of handpiece with a Langevin type ultrasonic transducer and a driver circuit to vibrate at resonance frequency. The transducer has a horn to enhance vibration and a tip to scale the calculi. On the back of the transducer, a rubber hose is connected to supply water to the scaling points. Such a transducer has two problems. One is vibration damping due to the water hose. The other is resonance frequency shift according to contact load on the tip. Two types of transducer are fabricated to compare influence of the hose connecting method. Measuring electric Q factor with water flowing, side connection seems to decrease the damping rather than back connection. A new transducer is designed based on the comparison result. To trace the frequency shift, we develop a resonance trace system. Arranging operating frequency based on detected current phase, the system can trace mechanical resonance with time delay of 17ms. We also propose teeth diagnosis using the resonance trace system. Observing the resonance frequency shift when the tip contacts a material, stiffness of the material can be estimated. The shift comparison result between a damaged tooth and a fine tooth shows possibility of dental caries diagnosis.
Supersonic Wave, Piezo-Element, Mesurement, Frequency Tracing, Dental Equipment

Development of a three-axis active vibration isolator using zero-power control
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC,IEEE-ASME TRANSACTIONS ON MECHATRONICS,11(4):462-470 200608
Hoque, Md. E., Takasaki, M., Ishino, Y. and Mizuno, T.

ゼロパワー磁気浮上を利用した除振装置の開発 : 第2報,荷重支持機構の導入(機械力学,計測,自動制御)
社団法人日本機械学会,日本機械学會論文集. C編,72(715):714-722 200603
水野 毅, 木下 大輔, 高崎 正也, 石野 裕二
Vibration isolation system using zero-power magnetic suspension is modified. A suspension spring is introduced in parallel with a series connection of a zero-power-controlled magnetic suspension and a normal spring that were used in the previous works. It can reduce the load force that the zero-power magnetic suspension has to bear. A basic configuration of the modified vibration isolation system is shown. It is demonstrated both analytically and experimentally that the modified system maintains infinite stiffness against static direct disturbance even if such a spring is added. The characteristics to dynamic direct disturbances are also studied experimentally.
Vibration Isolation, Vibration Control, Magnetic Bearing, Electromagnetic Actuator, Precision Instrument, Magnetic Suspension, Zero-Power Control, Negative Stiffness

磁路制御形磁気浮上の提案と基礎実験
日本AEM学会,日本AEM学会誌,13(4):346-352 2006
水野 毅,星野 博,高崎 正也,石野 裕
Proposal and Basic Experimental Study of Flux Path Control Magnetic Suspension

エネルギ伝送機能を備えた永久磁石併用交流形磁気浮上
日本AEM学会,日本AEM学会誌,13(4):322-327 200512
水野 毅,木下 大輔,高崎 正也,石野 裕二
PM-Biased AC Magnetic Suspension with Energy Transfer Function(<Special Issue>the 14th MAGDA Conference)

研究プロジェクト「マイクロ/ナノスケール計測制御テクノセンタ ー」活動報告<研究成果報告>
埼玉大学工学部,埼玉大学紀要, 工学部, 第1部論文集,1(38):114-118 200503
水野 毅,川橋 正昭,大八木 重治,加藤 寛,佐藤 勇一,堀尾 健一郎,豊岡 了,荒居 善雄,綿貫 啓一,池野 順一,小原 哲郎,高崎 正也
Report on the Activities of Research Project “Techno Center for Micro/Nano-Scale Control and Measurement”

圧電素子による永久磁石の運動制御を利用した反発形磁気軸受機構の開発(機械力学,計測,自動制御)
社団法人日本機械学会,日本機械学會論文集. C編,68(674):2941-2948 200210
水野 毅, 石野 裕二, 相澤 光範
A magnetic bearing system using forces of repulsion between permanent magnets was developed. In the developed magnetic bearing, the radial motions of the rotor were passively supported by repulsive forces. The motion in the axial direction, which is inherently unstable, was stabilized by using the motion control of the permanent magnets for passive radial suspension with a piezoelectric actuator. The maximum displacement of the actuator was 200 μm. The developed magnetic bearing suspended a rotor without any mechanical contact. Its dynamic characteristics were studied experimentally. It was demonstrated that the rotor could follow stepwise command signal whose magnitude was within ±60 μm when I-PD control was applied.
Magnetic Bearing, Piezo-Element, Positioning, Electromagnetic Actuator, Mechatronics, Motion Control, Permanent Magnet

ゼロパワー磁気浮上を利用した除振装置の開発 : 第1報,基本原理と基礎実験(機械力学,計測,自動制御)
社団法人日本機械学会,日本機械学會論文集. C編,68(673):2599-2604 200209
水野 毅, 吉冨 亮一
A new vibration isolation system using zero-power magnetic suspension is proposed. Since a zero-power magnetic suspension system behaves as if it has a negative stiffness, infinite stiffness against disturbances on the isolation table can be achieved by combining it with a normal spring. It enables the system to have good characteristics in both the performances of isolation from ground and suppression of direct vibration. An analytical study shows that the proposed system has infinite stiffness against disturbances on the isolation table. Such characteristics are experimentally confirmed with a developed instrument.
Vibration Isolation, Vibration Control, Magnetic Bearing, Electromagnetic Actuator, Precision Instrument, Magnetic Suspension, Zero-Power Control, Negative Stiffness

非減衰形動吸振器を利用した振動式質量測定装置の開発(機械力学,計測,自動制御)
社団法人日本機械学会,日本機械学會論文集. C編,68(665):37-43 200201
水野 毅, 佐藤 伸介, 石野 裕二
A new vibration-type mass measurement system using an undamped dynamic vibration absorber was developed. In the developed system, a measurement object is attached to the inertial mass of the vibration generator instead of the absorber mass. It has an advantage that the tuning condition of the absorber is not influenced by the mass of measurement objects. The measurement accuracy of the developed system was estimated experimentally when it was fixed on a rigid base and on a flexible structure. The results demonstrated that measurement accuracy was almost same in both the cases. It was also shown that the vibration of the table in transient states was reduced by increasing the excitation signal gradually from zero to an amplitude for measurement.
Dynamic Absorber, Measurement, Vibration Control Device, Mass Measurement

Proposal of a Vibration Isolation System Using Zero-Power Magnetic Suspension
,Proc. Asia-Pacific Vibration Conference 2001,2:423-427 2001

伝達関数を用いたゼロパワー磁気浮上制御系の解析と設計
電気学会,電気学会論文誌,121-D(9):933-940 2001
A Transfer-Function Approach to the Analysis and Design of Zero Power Controllers for Magnetic Suspension System, The Transaction of The Institute of Electrical Engineers of Japan

9.運動と振動の制御(研究展望)
社団法人日本機械学会,日本機械学會論文集. C編,66(648):2474-2475 200008
水野 毅

Active Stabilization of a Repulsive Magnetic Bearing Using the Motion Control of Permanent Magnets
,JSME International Journal, Series C ,43(3):632-637 2000

Development of a Hysteresis Amplifier with an H-bridge Drive for Self-Sensing Magnetic Suspension
,Journal of Robotics and Mechatronics,12(3):218-223 2000

能動形動吸振器を備えた質量測定装置の試作
社団法人日本機械学会,日本機械学會論文集. C編,65(638):4019-4024 199910
水野 毅, 根岸 武司
A mass measurement system with an active dynamic vibration absorber is developed. The purpose of the development is to lighten the mechanical setup, and to lower its resonant frequency for performing measurement at lower rotational speeds. In the developed system, a mass to be measured is fixed on a rotating table for introducing some unbalance to the table; it causes the structure to vibrate during rotation. This vibration is eliminated by the absorber, which also works as a measuring device because the mass is estimated from the vibration amplitude of the absorber mass when the structure does not vibrate. For eliminating vibration, a disturbance cancellation control using signals synchronized with the disturbance is applied; it succeeds in eliminating the vibration at any rotational frequencty. The measurement results demonstrate that linearity between the actual and estimated masses is good in the developed measurement system.
Dynamic Absorber, Measurement and Control, Vibration Control, Mass Measurement

伝達関数を用いた磁気軸受制御系の基本構造の解析
社団法人日本機械学会,日本機械学會論文集. C編,65(637):3507-3514 199909
水野 毅
The fundamental properties of active magnetic bearing controllers are investigated from the standpoint of output regulation in the presence of deterministic disturbances. A transfer function approach is used in the analysis. The variable to be regulated is selected from rotor displacement, coil current and bearing force. The treated disturbance is constant or harmonic ; the latter is caused by rotor unbalance. The essential properties of the controller achieving output regulation for constant disturbances are derived. Those for unbalance disturbance are also shown by using complexvariable representation, which makes the procedure of analysis similar to that for constant disturbances. The derived controllers for unbalance compensation are converted into two types of realvariable representation : state equation and convolution integral. It clarifies the equivalence between the independently developed unbalance compensation controllers. It is also shown that the obtained results can be utilized in designing controllers.
Magnetic Bearing, Robust Control, Servo Mechanism, Output Regulation, Disturbance Cancellation

動吸振器を利用した質量測定
社団法人日本機械学会,日本機械学會論文集. C編,65(636):3122-3128 199908
水野 毅, 根岸 武司
New mass measurement systems using a dynamic vibration absorber are proposed, in which a mass to be measured is attached to the absorber mass. Such mass measurement systems are named as vibration type, and their measurement principles and characteristics are studied with their basic models. It is also pointed out that mass measurement systems using a dynamic vibration absorber can be classified in several ways, for example, according to the motion of a mass to be measured, the type of the absorber, the method of exciting vibration, etc. An apparatus with an active dynamic absorber and an inertial-mass type vibrator was developed for experimental study on vibration type mass measurement. Experimental results demonstrate the effectiveness of the proposed mass measurement method.
Dynamic Absorber, Measurement and Control, Vibration Control, Mass Measurement
Mass Measurement Using a Dynamic Vibration Absorber, Transactions of the Japan Society of Mechanical Engineers, Series C

永久磁石の運動制御を利用した反発形磁気軸受に関する研究 : アキシャル方向の安定化制御
社団法人日本機械学会,日本機械学會論文集. C編,64(628):4717-4722 199812
水野 毅, 荒木 獻次, 関口 秀樹
A magnetic bearing system using forces of repulsion between permanent magnets is developed. In the developed system, the radial motions of the rotor are passively supported by repulsive force. The suspension system of such configuration is inherently unstable in the axial direction so that it is stabilized by using motion control of the permanent magnets for passive radial suspension; these magnets are driven by voice coil motors according the motion of the rotor in the axial direction. The characteristics of the system are studied both theoretically and experimentally. The experimental results demonstrated that the developed magnetic bearing can suspend a rotating mass without any mechanical contact, and realize positioning control of the rotor in the axial direction.
Magnetic Bearing, Motion Control, Actuator, Analog Control, Positioning, Permanent Magnet, Repulsive Force

ヒステリシスアンプを利用したセルフセンシング磁気浮上系のカウンタ方式ディジタル制御
社団法人日本機械学会,日本機械学會論文集. C編,64(618):523-529 199802
水野 毅, 荒木 獻次, 並木 啓能
A low-cost digital control system is developed for self-sensing magnetic suspension using hysteresis amplifiers. A single-quadrant hysteresis amplifier is designed and manufactured for experimental study. Since the switching rate of the hysteresis amplifier is sensitive to the load impedance, the gap between the electromagnet and the suspended object is estimated from the switching signal. In the developed system, the frequency of the switching signal of the amplifier is converted to a digital form by counting by a counter circuit. The converted signal is inputted to a computer calculating control input for stabilization. The developed digitally controlled magnetic suspension system succeeds in actual self sensing operation.
Magnetic Bearing, Digital Control, Measurement and Control, Self Sensing, Sensorless

周波数追従機能を備えた能動形動吸振器
社団法人日本機械学会,日本機械学會論文集. C編,63(612):2616-2621 199708
水野 毅, 荒木 獻次
A disturbance cancellation controller for active dynamic vibration absorbers is modified to follow the frequency of disturbance without any complicated adaptive algorithm. The original compensator has an internal model of a sinusoidal disturbance. When the fiequency of disturbance varies, for perfect regulation, the dynamics of the model must also be altered to be identical to the actual disturbance dynamics. In the modified compensator, control input is generated by calculating a convolution integral instead of solving the corresponding state-space equation; exogenous signals synchronized with the actual disturbance are used in the convolution. The performance of the designed controller is experimentally studied.
Active Vibration Control, Dynamic Vibration Absorber, Frequency Tracking, Internal Model Principle, Disturbance Cancellation

12. 電磁力関連のダイナミックス (機械工学年鑑(1995年)機械力学・計測制御)
社団法人日本機械学会,日本機械学會論文集. C編,62(600):2945 199608
水野 毅

能動形動吸振器を利用した釣合い試験機の開発 : 繰返し制御を利用した測定実験
社団法人日本機械学会,日本機械学會論文集. C編,62(594):510-515 199602
水野 毅, 荒木 獻次, 北島 和也
The principles of measuring rotor unbalance are described for balancing machines with active dynamic vibration absorbers. In this type of balancing machine, an active dynamic vibration absorber is used to eliminate the vibration of a test table on which an unbalanced rotor is driven to rotate. The unbalance of the rotor can be identified accurately from the motion of the absorber mass when the table does not vibrate. Three methods of eliminating the vibration are presented. One of them is to use the absorber as an undamped dynamic vibration absorber. The application of the theory of output regulation is another method. The other is to apply repetitive or periodic learning control theories. In the experiments, the last method is adopted. The measurement results demonstrate that this method is suitable for precies measurement of rotor unbalance.
Balancing, Rotor, Dynamic Vibration Absorber, Measurement, Vibration of Rotating Body, Learning Control, Vibration Control

磁石の運動制御を利用した反発形磁気浮上機構
社団法人日本機械学会,日本機械学會論文集. C編,61(589):3587-3592 199509
水野 ,毅, 石野 裕二, 荒木 獻次, 大内 泰平
Repulsive magnetic levitation systems with magnets driven by actuators were studied in this paper. In one system, a levitation magnet was driven in the direction of repulsive force to control the position and vibration of the levitated object. In another, a levitation magnet was moved in the lateral directions to stabilize the system in the manner of an inverted pendulum. The first type was studied experimentally with an experimental setup using a magnetostrictive actuator. The damping characteristic was modified well by driving the actuator in proportion to the velocity of the levitated object. The I-PD control was adopted for obtaining desired characteristics of floating position control and active damping of vibration.
Magnetic Bearing, Magnetic Levitation, Actuator, Permanent Magnet, Positioning, Magnetostrictive Actuator, I-PD control

セルフセンシング磁気軸受を利用した磁気浮上リニア搬送装置の開発
,科学研究費補助金(一般研究 C)研究成果報告書,平成6年度 199503
水野 毅

動吸振器を利用した釣合い試験機の開発 : 非減衰形動吸振器を利用した測定法
社団法人日本機械学会,日本機械学會論文集. C編,61(582):519-524 199502
水野 毅, 荒木 獻次, 北島 和也
A new type of balancing machine is proposed which uses a dynamic vibration absorber as a device measuring unbalance. When an unbalanced rotor rotates, centrifugal forces are generated which result in sinusoidal forces being transmitted to the supporting structure. An undamped dynamic vibration absorber is attached to the structure in the proposed machine. When it is tuned to resonate at the test rotational speed, the structure does not move at all ; the auxiliary system vibrates in such a way that the phase angle between the displacement of auxiliary mass and the sinusoidal force is exactly 180 degrees and that the product of the auxiliary mass and the amplitude of its vibration is equal to the amount of unbalance. Therefore, the motion of the auxiliary mass provides sufficient information for balancing the rotor. The principles and features of the proposed machine are investigated, and experiments are carried out using the developed apparatus. The results demonstrate the feasibility of the proposed balancing machine.
Balancing, Rotor, Dynamic Vibration Absorber, Measurement, Forced Vibration, Vibration, Antiresonance

複数の吸振周波数を持つ能動形動吸振器の実現
社団法人日本機械学会,日本機械学會論文集. C編,60(577):3012-3017 199409
水野 毅, 荒木 獻次, 森谷 光宏
An active dynamic vibration absorber is fabricated to reduce the vibration of the primary system to zero at specified frequencies and to nonresonant levels at the other frequencies. Its controller is designed based on the internal model principle ; accordingly, it incorporates a model of multiple-frequency disturbance into its feedback loop. The performance of the system obtained is experimentally studied using a vibration absorber with an electromagnetic servomechanism. The experiment succeeds in removing the vibration at up to four specified frequencies.
Active Vibration Control, Dynamic Vibration Absorber, Internal Model Principle, Servomechanism, Disturbance Cancellation

電磁サーボ式能動形動吸振器系の出力レギュレーション制御 (<小特集>電磁力関連のダイナミックスと制御)
社団法人日本機械学会,日本機械学會論文集. C編,58(556):3523-3530 199212
水野 毅, 森谷 光宏, 荒木 獻次
The control system of an active dynamic vibration absorber with an electromagnetic servomechanism, is designed based on the theory of output regulation with internal stability. The absorber system consists of a lever generating an inertial reaction, two electromagnets driving the lever, sensors and a controller. The object of the control is twofold. First, it is to reduce the vibration of the primary system equipped with the absorber to a nonresonant level in the whole range of frequencies. Second, it is to reduce the vibration to zero at a specified frequency. It is shown that the latter property is preserved in the face of small parameter variations in the primary system, but is not preserved when the parameters in the absorber system are perturbed. Experimental results emphasize the effectiveness of the proposed control method, and support the analytical predictions well.
Active Vibration Control, Dynamic Vibration Absorber, Output Regulation, Servomechanism, Disturbance Cancellation

Presentation
Tactile Mouse Using Friction Control
IEEE Haptics Symposium 2010,Proceedings of the IEEE Haptics Symposium 2010:313-316 201003
Masaya Takasaki, Horoyuki Kotani, Ryo Tamon and Takeshi Mizuno

A 3-DOF Modular Vibration Isolation System Using Zero-Power Magnetic Suspension with Adjustable Negative Stiffness
11th IEEE International Workshop on Advanced Motion Control (AMC2010),Proc. of the 11th IEEE International Workshop on Advanced Motion Control (AMC2010):NF-003107, 661-666 201003
Hoque, Md., E., Mizuno, T., Ishino, Y., and Takasaki, M.

Study on Self-Sensing Electrostatic Suspension Using a Variable Capacitor
11th IEEE International Workshop on Advanced Motion Control, (AMC2010),Proc. of the 11th IEEE International Workshop on Advanced Motion Control, (AMC2010):NF-002526, 426-429 201003
Kato, T., Ishino, Y., Takasaki, M., and Mizuno, T.

Development of Mass Measurement Devices for Zero-Gravity Experiments
International Conference on Precision Instrumentation and Measurement 2010, (Conference Digest of CPIM 2010),Proc. International Conference on Precision Instrumentation and Measurement 2010, (Conference Digest of CPIM 2010),Keynote Lecture:CD- CPIM_A009_mizuno.pdf 201003
Mizuno, T.

セグメント構造ダイヤモンド状炭素膜を摩擦駆動面に用いた弾性表面波リニアモータ-第6報 摩擦力の測定-
2010年度精密工学会春季大会学術講演会,2010年度精密工学会春季大会学術講演会講演論文集:CD-ROM F09, 451-452 201003
中村満、小谷浩之、高崎正也、高島舞、大竹尚登、水野毅

可変キャパシタを利用した静電浮上システムにおける位置推定方法の検討
2010年度精密工学会春季大会学術講演会,2010年度精密工学会春季大会学術講演会講演論文集:CD-ROM N04, 981-982 201003
加藤貴彰、石野裕二、高崎正也、水野毅

微小物体を対象とした非接触超音波支持機構の作用力特性
2010年度精密工学会春季大会学術講演会,2010年度精密工学会春季大会学術講演会講演論文集:CD-ROM F19, 463-464 201003
加藤裕弘、石野裕二、水野毅、高崎正也

多重式磁気浮上システムの開発(第5報:電流制御形並列磁気浮上について)
日本機械学会関東支部第16期総会講演会,日本機械学会関東支部第16期総会講演会講演論文集:49-50 201003
櫻田巧、水野毅、高崎正也、石野裕二

シート状超音波振動子を用いた皮膚感覚ディスプレイ 第一報 材料の検討
第10回計測自動制御学会システムインテグレーション部門講演会,第10回計測自動制御学会システムインテグレーション部門講演会講演論文集:169-170 200912
須崎道広、高崎正也、水野毅

ペンタブレット型弾性表面波皮膚感覚ディスプレイ 移動式振動子の導入と書き味の提示
第10回計測自動制御学会システムインテグレーション部門講演会,第10回計測自動制御学会システムインテグレーション部門講演会講演論文集:1699-1670 200912
多門良、小谷浩之、高崎正也、水野毅

弾性表面波皮膚感覚ディスプレイと指ダミーを用いたテレタッチの開発
第10回計測自動制御学会システムインテグレーション部門講演会,第10回計測自動制御学会システムインテグレーション部門講演会講演論文集:171-172 200912
中鉢耕平、中島壮樹、高崎正也、水野毅

Dummy Finger for Surface Acoustic Wave Tactile Display -Vibration Characteristics-
2009 IEEE International Conference on Robotics and Biomimetics,Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics:1669-1674 200912
Masaya Takasaki, Soju Nakajima and Takeshi Mizuno

並列多重磁気浮上システムの可観測性について
電気学会研究会,半導体電力変換・リニアドライブ合同研究会,電気学会研究会資料,半導体電力変換・リニアドライブ合同研究会:SPC-09-166 190, LD-09-056 080, 39-42 200912
水野毅、髙﨑正也、石野裕二

ゼロパワー式除振ユニットを組み込んだハイブリッド型除振装置の性能評価
第52回自動制御連合講演会,第52回自動制御連合講演会CD-ROM:CD-ROM D6-2 200911
長野裕太、水野毅、高崎正也、石野裕二

多重磁気浮上システムの開発 第4報:並列2重磁気浮上の実現
第52回自動制御連合講演会,第52回自動制御連合講演会CD-ROM:CD-ROM G5-2 200911
櫻田巧、丸山裕、石野裕二、高崎正也、水野毅

多重式静電浮上(第1報:基本原理)
第52回自動制御連合講演会,第52回自動制御連合講演会CD-ROM:CD-ROM C4-5 200911
加藤貴彰、水野毅、高崎正也、石野裕二

Proposal of A New Configuration for Magnetically Suspended Gyro
35th Annual Conference of the IEEE Industrial Electronics Society (IECON),Proc.of the 35th Annual Conference of the IEEE Industrial Electronics Society (IECON):1925-1930 200911
Maruyama, Y., Mizuno, T., Takasaki, M., Ishino, Y., Kameno, H.and Kubo, A.

Pen Type Surface Acoustic Wave Tactile Display with Movable Tablet
The 18th IEEE International Symposium on Robot and Human Interactive Communication,Proc. of The 18th IEEE International Symposium on Robot and Human Interactive Communication:454-459 200909
Masaya Takasaki, Ryo Tamon, Hiroyuki Kotani and Takeshi Mizuno

Segment-Structured Diamond-Like Carbon Films, Installed on Driving Surface of Surface Acoustic Wave Linear Motor
IEEE International Ultrasonics Symposium,Proc. IEEE International Ultrasonics Symposium:1196-1110 200909
Mitsuru Nakamura, Yosuke Fujii, Hiroyuki Kotani, Masaya Takasaki, Takeshi Mizuno, Tsuyoshi Kuroda, Naoto Ohtake

ガラス基板を用いた周回進行波型弾性表面波リニアモータ
第27回日本ロボット学会学術講演会,第27回日本ロボット学会学術講演会講演論文集:3B3-05 200909
高野広樹、中村満、小谷浩之、高崎正也、水野毅

動吸振器系の不動点を利用した質量測定(第1報:測定原理の提案)
日本機械学会2009年度年次大会,日本機械学会2009年度年次大会講演論文集,5(9-1):115-116 200909
水野毅

セグメント構造ダイヤモンド状炭素膜を摩擦駆動面に用いた弾性表面波リニアモータ-第5報 S-Cr/DLC膜の導入-
2009年度精密工学会秋季大会学術講演会,2009年度精密工学会秋季大会学術講演会講演論文集:CD-ROM L24,859-860 200909
中村満、小谷浩之、藤井陽介、高崎正也、黒田剛史、大竹尚登、水野毅

Analysis on the Effects of Stiffness in Mass Measurement Using Relay Feedback of Displacement
XIX IMEKO World Congress, Fundamental and Applied Metrology,Proc. XIX IMEKO World Congress, Fundamental and Applied Metrology:171-174 200909
Mizuno, T., Ishino, Y.and Takasaki, M.

局所フィードバックによる磁気浮上系の剛性制御
第11回「運動と振動の制御シンポジウム」,第11回「運動と振動の制御シンポジウム」講演論文集:299-302 200909
石野裕二、水野毅、髙﨑正也

磁気支持型ジャイロにおける角速度計測の検討
第11回「運動と振動の制御シンポジウム」,第11回「運動と振動の制御シンポジウム」講演論文集:287-290 200909
丸山裕、水野毅、高崎正也、石野裕二

多重式磁気浮上システムの開発(第3報:基本定理の証明)
第11回「運動と振動の制御シンポジウム」,第11回「運動と振動の制御シンポジウム」講演論文集:448-451 200909
水野毅、髙﨑正也、石野裕二、丸山裕

非接触超音波振動方向変換に関する研究
第11回「運動と振動の制御シンポジウム」,第11回「運動と振動の制御シンポジウム」講演論文集:439-442 200909
髙﨑正也、山本和也、水野毅

Stiffness Control of Magnetic Suspension by Local Current Feedback
European Control Conference 2009,Proc. European Control Conference 2009:WeA12.2, 3881-3886 200908
Ishino, Y., Mizuno, T., and Takasaki, M.

Flux-Path Control Module Using a Single Actuator
ICROS-SICE International joint Conference 2009 (ICCAS-SICE 2009),Proc. ICROS-SICE International joint Conference 2009 (ICCAS-SICE 2009):4A14-3, 4407-4410 200908
Mizuno, T., Nagano, Y., Ishino, Y., and Takasaki, M.

回転型遮束板による磁路制御式磁気浮上装置の開発(第2報:ゼロパワー制御の実現)
Dynamics and Design Conference 2009,Dynamics and Design Conference 2009 CD-ROM論文集:437 200908
酒井康博、石野裕二、高崎正也、水野毅

多重式磁気浮上システムの開発(第2報:直列多重磁気浮上系の可制御性と可観測性)
Dynamics and Design Conference 2009,Dynamics and Design Conference 2009 CD-ROM論文集:442 200908
丸山裕、大芝優介、石野裕二、高崎正也、水野毅

Development of a Module-Type Vibration Isolation System Using Zero-Power Control
First Japan-Korea Joint Symposium on Dynamics and Control,Proc. of the First Japan-Korea Joint Symposium on Dynamics and Control:157-160 200908
Hoque, Md., E., Mizuno, T., Noda S., Ishino, Y., and Takasaki, M.

Development of Circulated Progressive Wave Transducer for Saw Linear Motor
First Japan-Korea Joint Symposium on Dynamics and Control,Proc. of the First Japan-Korea Joint Symposium on Dynamics and Control:251-252 200908
Takano, H., Nakamura, M., Kotani, H., Takasaki, M., and Mizuno, T.

Operating Point Adjustment of Electrostatic Actuator Control System Using a Variable Capacitor
First Japan-Korea Joint Symposium on Dynamics and Control,Proc. of the First Japan-Korea Joint Symposium on Dynamics and Control:269-270 200908
Kato, T., Ishino, Y., Takasaki, M., and Mizuno, T.

Surface Acoustic Wave Excitation Using Pulse Wave
First Japan-Korea Joint Symposium on Dynamics and Control,Proc. of the First Japan-Korea Joint Symposium on Dynamics and Control:118-119 200908
Tamon, R., Kotani, H., Takasaki, M., and Mizuno, T.

An Application of Nonlinear Compensation to Six-Axis Vibration Isolation System Using Zero-Power Control
16th International Congress on Sound and Vibration (2009 ICSV16),Proc. of the 16th International Congress on Sound and Vibration (2009 ICSV16):CD-Paper-671 200907
Hoque, Md., E., Mizuno, T., Ishino, Y.and Takasaki, M.

ペンタブレット型弾性表面波皮膚感覚ディスプレイ 移動式タブレットの導入による全画面への対応
日本機械学会ロボメカ講演会,日本機械学会ロボメカ講演会講演論文集:2P1-K01 200905
多門良、小谷浩之、高崎正也、水野毅

S-DLCを駆動面に用いたSAWリニアモータの駆動特性向上に関する研究
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:421-424 200905
中村満、小谷浩之、藤井陽介、高崎正也、水野毅、黒田剛史、大竹尚登

ゼロパワー式除振ユニットを組み込んだハイブリット型除振装置の開発
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:597-600 200905
長野裕太、水野毅、高崎正也、石野裕二、稲葉俊介

可変キャパシタンス機構を利用した静電アクチュエータ制御システムにおける位置の推定
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:461-462 200905
加藤貴彰、石野裕二、高崎正也、水野毅

回転型遮束板を用いた磁路制御式磁気浮上装置の開発(第1報:ユニット型可変磁路機構の提案と基礎実験)
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:127-130 200905
酒井康博、石野裕二、高崎正也、水野毅

磁気浮上式回転球体風洞装置の開発(第1報)基本構想
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:133-136 200905
水野毅、古舘宗大、髙﨑正也、石野裕二

多重式磁気浮上システムの開発 第1報:基本構想
第21回「電磁力関連のダイナミクスシンポジウム」,第21回「電磁力関連のダイナミクスシンポジウム」講演論文集:161-164 200905
水野毅、丸山裕、大芝優介、石野裕二、髙﨑正也

Patents

Patents
アクティブ除振装置
除振方法及びその装置
除振装置およびその装置