List of Publications(1996)

Annual Report 1996
Annual Report 1998　Annual Report 1997　Annual Report 1996
CONTENTS
［Message］［Outline of Research Activities］［International Cooperative Activities］［Statistical Trends in Recent Years］［Organization of MEL(1997)］［List of Publications(1996)］　Back to [Main Research Areas]

List of Publications(1996)

　［Material Science and Technology］　［Bioenginering］　［Information and Systems Science］　［Advanced Machine Technology］　［Energy and Environmental Technology］　［Manufacturing Technology］　［Robotics］

Materials Science and Technology

1) K. Kanazawa, H. Kubota, K. Nakamura and K. Hirano, Fracture Toughness and Fatigue Crack Growth Characteristics of Aluminum Alloy Die Castings, Trans. JSME 62-594 (Feb. 1996), pp.379～386
2) T. Shimizu and T. Sano, Penalty Method Contact-Friction Algorithm and Expression of Tools by B-Spline Function-Penalty Method Contact Argorithm and Rigid Plastic FEM I, J. of JSTP 37-421 (Feb. 1996), pp.225～230
3) K. Nakayama, T. Dekura and T. Kobayashi, Effects of Additives on Friction, Wear and Iron Fluoridew Formation Under Perfluoropolyether Fluid Lubrication in Vacuum and Various Atmospheres Containing Oxygen, Wear 192 (Mar.1996), pp. 178～185
4) A. Bhattacyaraya, T. Singh, A. K. Tripathi, V. K. Verma and K. Nakayama, Wear and Friction Studies on Silicon Nitride Bearing Balls Using S-Containing Potential Lubricant Additives, Indian j. of Eng. & Mater. Sci. 3 (Apr.1996), pp. 70～72
5) T. Suzuki and K. Hirano, Fatigue Crack Growth Characteristics of Austenitic Stainless Steel at Cryogenic Temperature Under High-Magnetic Field, Fatigue '96 (May 1996), pp. 405～410
6) K. Hirano and M. Vivensang, Fatigue Failure Mechanism of Advanced 2-Dimensional C/C Composites, Fatigue'96 (May 1996), pp. 1681～1686
7) K. Nakayama, Tribocharging and Friction in Insulators in Ambient Air, Wear 194 (Jun. 1996), pp. 185～189
8) K. Hirano, K. Etoh and M. Kikuchi, Fracture Toughness of Unidirectional Fiber Reinforced Titanium Alloy and Titanium Intermetallic Matix Composites, Localized Damage IV-Conzputer-Aided Assessment and Control - (Jun. 1996), pp. 409～416
9) K. Sekine, Y. Zhong, A. uzuka and K. Nonaka, A Theoretical Analysis of magnetic Force Acting on magnetic in the Immediate Vicinity of Surface Flaws, Proc. First US-JAPAN Symp. on Adovances in NDT, Hawai, USA, ed, by ASNT(Jun. 1996), pp. 396～401
10) K. Ichikawa and Y. Kinoshita, Refinement of Microstructures and Improvement of Mechanical Properties in Intermetallic TiAl Alloys by Rheocasting, Mater. Trans., JIM 37-6 (Jun. 1996), pp.1311～1318
11) T. Shimizu, T. Sano, S. Mochizuki and M. Fuchizawa, A Debinding Method Using Supercritical C0₂ on MIM Process, Proc. of the World Congress on Powder Metallurgy and Particulate Mater. 19 (Jun. 1996), pp. 207～212
12) K. Hirano and M. Vivensang, Evaluation of Damage Tolerant Behavior for Advanced C/C Composites, Proc. of Asian Pacific Conf. on Fracture and Strength '96 (Jul. 1996), pp. 149～154
13) Y. Saotome, Y. Nakazawa, Y. Yokoyama and T. Aoki, Disassembling and Selective Materials Recovering Process of Vacuum-Aided Recycling Systems Technology of Ecofactory, Proc. 4th Int. Cong. on Environmentally Conscious Design and Manuf. (Jul. 1996), pp.389～396
14) M. Akei, K. Mizuhara, T. Taki and T. Yamamoto, Evaluation of Film-Forming Capability of Refrigeration Lubricants in Pressurized Refrigerant Atmosphere, Wear 196 (Aug.1996), pp.180～187
15) K. Nakayama and H. Hashimoto, Triboemission, Tribochemical Reaction, and Friction and Wear in Ceramics Under Various N-butane Gas Pressures, Tribology Int. 29-5 (Aug.1996), pp. 385～393
16) Y. Saotome, Y. Nakazawa and Y.Yokoyama, Vacuum Aided Recycling Systems Technology as a Restoration Systems Technology of Ecofactory, Vacuum 47-6-8 (Aug.1996), pp. 833～836
17) K. Nakayama and H. Hashimoto, Triboemission of Charged Particles and Friction During Wear of Solids in the Atmosphere, Proc. Int. Tribology Conf. Yokohama 1995,(Aug 1996), pp. 79～84
18) K. Mizuhara and S. Jahanmir, Characterization of Oxides Formed on Silicon Nitride Surfaces During Higt Temperature Friction Tests, Proc. Int. Tribology Conf. Yokohama 1995, (Aug.1996), pp. 439～443
19) K. Mizuhara, M. Akei, T. Taki, K. Kawahara, T. Nishizawa, K. Sawai, N. Masuda and E. Usui, Evaluation of Physical Properties of Lubricants with Alternative Refrigerants, Proc. Int. Tribology Conf. Yokohama 1995, (Aug.1996), pp. 881～886
20) K. Umeda, Y. Enomoto and A. Tanaka, Development of Multi-Oxide Solid Lubricants Usable from Room Temperature up to 1000℃ in Air, Proc. Int. Tribology Conf. Yokohama 1995, (Aug.1996), pp.1181～1186
21) Y. Hibi, Y. Enomoto, K. Kikuchi, H. Ogiso and N. Shikata, Effective Mirror-Like Machining of Silicon Based Ceramics by Excimer Laser Assisted Chemical Machining, Proc. Int. Tribology Conf. Yokohama 1995, (Aug.1996), pp.1731～1736
22) T. Shimizu, T. Sano, S. Mochizuki and M. Fuchizawa, Supercritical C0₂ Debinding Method in MIM Process-Debinding Condition and Process in Supercritical Debinding, J. of the Soc. of Powder and Powder Metallurgy, 41-8 (Aug.1996), pp.1188～1192
23) K. Nakayama and T. Kobayashi, Effect of Dissolved Oxygen on the Formation of Iron Fluoride, Friction and Wear in an Iron/Iron Frictional System under Perfluoropolyether Fluid Lubrication, Wear 198 (Oct.1996), pp.52～57
24) K. Nakayama and H. Ikeda, Triboemission Characteristics of Electrons During Wear of Amorphous Carbon and Hydrogenated Amorphous Carbon Films in a Dry Air Atmosphere, Wear 198 (Oct. 1996), pp. 71～76
25) F. Tamai and K. Hirano, Characteristics of Static and Fatigue Strength of Alumina Ceramic, Joints JSME Int. J. 39-4 (Oct. 1996), pp.613～619
26) K. Hanada, Y. Murakoshi, H. Negishi and T. Sano, Microstructures and Mechanical Properties of A1-Li/SiCp Composite Produced by Extrusion Processing, J. of Mater. and Processing Tech. 63 (Nov.1996), pp. 405～410
27) A. Tanaka, K. Mizuhara, I. Umeda, M. Ko, S. Kim, S. Shin and S. Lee, Friction and Wear of Diamond-like Carbon Films Produced by Plasma Assisted CVD Technique, Proc. Int. Diamond Symp. (Nov. 1996), pp.139～144
28) K. Umeda, A. Tanaka and S. Takatsu, Tribological Properties of Sintered Diamonds with WC-Co Matrix, Proc. Int. Diamond Symp. Seoul 1996, (Nov. 1996), pp. 222～226
29) K. Nakayama, Triboemission and Wear of Hydrogenated Carbon Films, Mat. Res. Soc. Symp. Proc. 409 Materials Research Soc. (1996), pp. 391～396
30) Y. Kimura, M. Tanaka and Y. Enomoto, Tribology Research in Japan －　A State-of-the Art Report －, Imech E, Proc. Instn. Mech. Engrs, 210(1996), pp. 159～172
31) Y. Enomoto, S. Miyake and S. Yazu, Friction and Wear of Synthetic Diamond with and without N+ Implantation and CVD Diamond Coating in Air, Water and Methanol, Tribology Leteers 2 (1996), pp. 241～246
32) Y. Enomoto, H. Hashimoto and K. Kikuchi, Measurements of Transient Electric Current Associated with Indentation Fracture and Deformation of Brittle Solids, Phil. Mag. 74-5 (1996), pp. 1299～1310
33) Y. Enomoto, Notes on Generation and Propagation of Seismic Transient Electric Signals "A Critical Review of VAN", Sir J. Lighthill ed. World Sci. Singapore(1996), pp. 324～331

Bioengineering

34) S. Rao, T. Ushida, T. Tateishi, Y. Okazaki and S. Asao, Effect of Ti, Al, and V Ions on the Relative Growth Rate of Fibroblasts (L929) and Osteoblasts (MC3T3-E1) Cells, Bio-Medical Mater. & Eng. 6 (Jan. 1996), pp.79～86
35) I. Oda, H. Eda, Y. Tsunasawa, M. Takada, Y. Yamada, G. Nishimura and M. Tamura, Optical Tomography by the Temporally Extrapolated Absorbance Method, Appl. Opt. 35-1 (Jan. 1996), pp. 169～175
36) T. Ikeda, T. Yamane, T. Orita and T. Tateishi, A Quantitative Visualization Study of Flow in a Scaled-up Model of a Centrifugal Blood Pump, Artif Organs 20-2 (Feb. 1996), pp. 132～138
37) Y. Okazaki, Y. Ito, A. Ito and T. Tateishi, New Titanium Alloys to be Considered for Medical Implants, ASTM Standard Technical Publication 1272 (Mar.1996), pp.45～59
38) M. R. Jones, M. Q. Brewster and Y. Yamada, Application of a Genetic Algorithm to the Optical Characterization of Propellant Smoke, J. Thermophysics and Heat Transfer 10-2 (Apr.1996), pp. 372～377
39) Y. Okazaki, Y. Ito and T. Tateishi, Effects of Heat Treatment on Mechanical Properties and Corrosion Fatigue Strength in Physiological Saline Solution of New Titanium Alloys for Medical Implants, Mater. Trans., JIM 37-4 (Apr. 1996), pp.843～849
40) T. Yamane, T. Ikeda, T. Orita and T. Tateishi, Fluid Dynamics of Turbo Pumps for Artificial Hearts, Mater. Sci. & Eng. C4 (Jun. 1996), pp.99～106
41) S. Kumar, K. Mitra and Y. Yamada, Hyperbolic Damped-Wave Models for Transient Light-Pulse Propagation in Scattering Media, Appl. Opt. 35-19 (Jul. 1996),pp. 3372～3378
42) M. R. Jones and Y. Yamada, Determination of the Asymmetry Parameter and Scattering Coefficient of Turbid Media from Spatially Resolved Reflectance Measurements, Proc. of OSA, Trends in Optics and Photonics on Advances in Optical Imaging and Photon Migration II (Jul. 1996), pp. 379～382
43) K. Chinzei and K. Miller, Compression of Swine Brain Tissue; Experiment in Vitro, J. Mech. Eng. Lab. 50-4 (Jul. 1996), pp.106～115
44) Y. Okazaki, Y. Ito, K. Kyo and T. Tateishi, Corrosion Resistance and Corrosion Fatigue Strength of New Titanium Alloys for Medical Implants without V and Al, Mater. Sci. & Eng. A213 (Aug. 1996), pp.138～147
45) Y. Yamada and Y. Hasegawa, Time-Dependent FEM Analysis of Photon Migration in Biological Tissues, JSME Int. J. B 39-4 (Oct.1996), pp. 754～761
46) Y. Yamada, H. Ishiguro, M. Yamashita, T. Tanaka, M. Takeuchi and H. Kawamura, Rise of Tissue Temperature Induced by Reduced Blood Perfusion Caused by External Pressure, Adv. in Exp. Med. and Biol., 388 (Oct.1996),pp. 391～397
47) K. Hyodo and K. Homma, Neurotransmitter Levels in a Rat Brain Subject to Magnetic Resonance Imaging, Proc. Int. Workshop on Brainware 96 (Dec.1996), pp. 90～92

Information and Systems Science

48) T. Shirai and T. Asakura, Multiple Light Scattering from Spatially Random Media under the Second-order Born Approximation, Opt. Commun. /Full-length Article 123-1, 2, 3 (Jan. 1996), pp. 234～249
49) T. Shirai and T. Asakura, Spectral Changes of Light and Scattering Phenomena, Opt. Rev. 3-1 (Jan. 1996), pp. 1～10
50) T. Murata, H. Kurokawa, Y. Tomita and S. Kokaji, Self-Assembly Method for Mechanical Structure, Proc. Int. Symp. Artificial Life & Robotics (Feb. 1996), pp. 55～58
51) T. Shirai, Correlation-Induced Spectral Changes in Laser Light Scattering, Proc. Photon Tech. Workshop (Mar. 1996),L25
52) K. Tenjimbayashi, M. Kawazoe, A. K. Nirala, K. Matsuda, C. Shakher and A. Ishizaka, Phase Conjugate Interferometry for Testing a Parabolic Mirror, Proc. Photon Tech. Workshop (Mar. 1996) L26
53) A. Tezuka, 2D Mesh Generation Scheme for Adaptive Remeshing Process in FEM, JSME Int. J. 39-2A (Apr. 1996), pp. 204～215
54) M. Misawa, N. Ichikawa and M. Kawaji, Gravity Effects on Bubble Detachment in Shear Flow, Proc. 2nd European Symp. Fluids in Space (Apr. 1996), pp. 501～508
55) I. Hukui, Tissue Preparation for Reconstruction of Large-scale 3-D Structures Using a Scanning Electron Microscope, J. Microscopy Oxford 182, Pt2 (May 1996), pp. 95～101
56) M. Onda and M. L. Ford, Efforts Toward Achieving an Unmanned, High-altitude LTA Platform, Proc. 2nd Int. Airborne Remote Sensing Conf. and Exhibition (Jun. 1996) pp.I- 654～663
57) S. Tsugawa, M. Aoki, A. Hosaka and K. Seki, A Survey of Present IVHS Activities in Japan, 13th World Cong. of IFAC (Jul. 1996), pp.147～152
58) S. Kato and S. Tsugawa, Obstacle Detection by Extended Slit-Ray Projection and its Application to Mobile Robots, Proc. Jpn. USA Symp. on Flexible Automation (Jul. 1996), pp. 569～576
59) M. L. Ford and M. Onda, General Applications of the Stratospheric, Unmanned Airship, Proc. Int. Airship Convention and Exibition (Jul. 1996), pp.12- 1～ 8
60) M. L. Ford and M. Onda, Powering of High-altitude LTA's by Surface-to-air Microwave Transmissions, Proc. Unmanned Vehicle Systems Int. (AUVSI) Conf. (Jul. 1996), pp. 363～372
61) K. Matsuuchi, Y. Eguchi, N. Yamamura, T. Adachi, M. Onda and M. L. Ford, Aerodynamic Considerations for a High-altitude, Long-endurance LTA Platform, Proc. 2nd Int. Airship Conf. (Jul. 1996), pp.35～43
62) H. Kurokawa, Constrained Steering Law of Pyramid Type CMGs and Ground Tests, Proc. AIAA Guidance Navigation and Control Conf. AIAA 96-3790 (Jul. 1996), P.9
63) N. Ichikawa, M. Misawa, K. Kawasaki, S. Muramatsu, T. Tada, M. Koyama and T. S. Morita, Interface Dynamics of Capillary Flow in a Tube and Effects of Gravity-Jitter under Low-Gravity Conditions Using a MU-300 Airplane, AIChE Symp. Ser. No.310 (Aug.1996), pp. 186～194
64) K. Hibino, D. Farrant, B. Ward and B. Oreb, Effective Wavelength Tuning of a Phase-shifted Ronchi Test for Optimum Dynamic Range, Proc. 1996 Int. Workshop on Interferometry (Aug. 1996), pp. 77～78
65) K. Hibino, B. F. Oreb, D. I. Farrant and K. G. Larkin, Phase Shifting Algorithms for Nonsinusoidal Signals Compensating Nonlinear Phase Shift Errors and Their Susceptibility to Random Noise, Proc. 17th Cong. Int. Commission for Opt. SPIE 2778 (Aug. 1996), pp. 235～236
66) T. Shirai and E. Wolf, Coherence Filters and some of their Uses, Proc. 17th Cong. Int. Commission for Opt. SPIE 2778 (Aug. 1996), pp. 371～372
67) T. Shirai and T. Asakura, Spectral Changes of Light Produced by Multiple Scattering from Space-time Fluctuating Random Media Under the Born Approximation, Opt. Rev. 3-5 (Sep. 1996), pp. 324～334
68) S. Kato, K. Tomita and S. Tsugawa, Visual Navigation Along Reference Lines and Collision Avoidance for Autnomous Vehicles, Proc. 1996 IEEE Intelligent Vehicles Symp. (Sep. 1996), p.385
69) S. Kokaji, S. Murata, H. Kurokawa and, K. Tomita, Clock Synchronization Mechanisms for a Distributed Autonomous System, J. Robotics & Mechatronics 8-5 (Oct. 1996), pp. 427～434
70) K. Tomita, S. Murata, E. Yoshida, H. Kurokawa and S. Kokaji, Reconfiguration Method for a Distributed Mechanical System, Distributed Autonomous Robotic Systems 2 Springer-Verlag (Oct. 1996), pp. 17～25
71) Il-Y. Kim (Winter Institute) and A. Tezuka, Optimal Shape Design by Adaptive FEM with B-spline Description, Proc. of KSME Int. Session on Dynamic, Systems and Design (Nov. 1996), pp. 150～157
72) E. Yoshida, T. Arai, M. Yamamoto, J. Ota and D. Kurabayashi, Evaluating the Efficiency of Local and Global Communication in Distributed Mobile Robotic Systems, Proc. IEEE/RSJ Int. Conf. Intelligent Robot & Systems (Nov.1996), pp. 1661～1666
73) K. Tenjimbayashi, Large Deformation Measurement Using ESPI, Proc. SPIE 2888 (Nov. 1996), pp. 126～133
74) S. Imamura, Re-organization of Object Oriented Systems to Adapt to Specification Changes, Proc. of IMSA '96 (Dec.1996), p.103

Advanced Machine Technology

75) S. D. Snyder, N. Tanaka and Y. Kikushima, The Use of Optimally Shaped Piezo-electric Film Sensors in the Active Control of Free Field Structural Radiation, Part2 Feedback Control, ASME J. Vibration & Acoustics 118-1 (Jan. 1996), pp. 112～121
76) K. Yamanaka, UFM Observation of Lattice Defects in Highly Oriented Pyrolytic Graphite, Thin Solid Films 273 (Jan. 1996), pp.116～121
77) N. Tanaka, S. D. Snyder and C. H. Hansen, Vorticity Characteristics of the Vibrational Intensity Field in an Actively Controlled Thin Plate, J. Acoustical Soc. Am. 99-2 (Feb.1996), pp. 942～953
78) N. Tanaka, Vibrational and Acoustic Power Flow of an Actively Controlled Thin Plate, Noise Control Eng. J. 44-1 (Feb. 1996), pp. 23～33
79) Y. Ando, J. Ino, K. Ozaki, Y. Ishikawa and T. Kitahara, Friction and Pull-off Force on Silicon Surface Modified by FIB, Proc. IEEE Micro Electro Mechanical Systems (Feb. 1996), pp. 349～353
80) N. Tanaka, Y. Kikushima, M. Kuroda and D. Snyder, Active Control of Acoustic Power Radiated from a Vibrating Planar Structure Using Smart Sensors (Acoustic Power Suppression Using Adaptive Feed-forward Control), JSME Int. J. Series C 39-1 (Mar. 1996), pp. 49～57
81) H. Mizutani and Y. Ishikawa, Power Loss of Long Addendum Spur Gears, VDI-Bericht 1230 (Apr. 1996), pp. 83～95
82) H. Cho, H. Sato, M. Takemoto, A. Sato and K. Yamanaka, Surface Acoustic Wave Velocity and Attenuation Dispersion Measurement by Phase Velocity Scanning of Laser Interference Fringes, Jpn. J. Appl. Phys. 35 Part 1-5B (May1996), pp. 3062～3065
83) H. Sato, H. Cho, H. Nishino, H. Ogiso and K. Yamanaka, Evaluation of Surface Defects Using Surface Acoustic Waves Generated by Phase Velocity Scanning of Laser Interference Fringes, Jpn. J. Appl. Phys. 35 Part 1-5B (May 1996), pp. 3066～3069
84) Y. Hoshi, H. Yoshida, K. Yamanaka and Y. Usui, Time Delay in Laser-Guided Discharge at Low Air Pressure, IEEE Trans. Plasma Science 24 - 3 (Jun. 1996), pp. 1137～1146
85) K. Yamanaka and S. Nakano, Ultrasonic Atomic Force Microscope with Overtone Excitation of Cantilever, Jpn. J. Appl. Phys. 35 Part 1-6B (Jun. 1996), pp. 3787～3792
86) N. Tanaka, Y. Kikushima and M. Kuroda, Vortex Power Flow and Its Influence on the Acoustic Field, Proc. 4th Int. Congress on Sound & Vibration (Jun. 1996), pp. 785～792
87) M. Kuroda, M. Nakai and N. Tanaka, Chaotic Vibration in a Forced Vibratory System with an Asymmetric Restoring Force, Proc. 4th Int. Congress on Sound & Vibration (Jun. 1996), pp. 1029～1037
88) M. Kuroda, M. Nakai, T. Hikawa and Y. Matsuki, Bifurcations and Chaos in a Forced Vibratory System with an Asymmetric Piecewise Linear-Restoring Force, Proc. 6th Conf. on Nonlinear Vibrations, Stability, and Dynamics of Structures (Jun. 1996), pp. 56～57
89) Y. Hoshi, H. Yoshida, K. Yamanaka and Y. Usui, Time Delay in Laser-Guided Discharge at Low Air Pressure, IEEE Transactions on Plasma Science 24-3 (Jun. 1996), pp. 1137～1146
90) H. Ogiso, S. Nakano, H. Tokumoto and K. Yamanaka, Friction Change Induced by Single MeV Ion Impact Measured by Scanning Probe Microscope, Mat. Res. Soc. Symp. Proc. 396 (Jun. 1996), pp. 667～672
91) M. Kuroda, Y. Kikushima and N. Tanaka, Chaotic Vibration in a Forced Vibratory System with a Piecewise Linear Restoring Force, Proc. Third Int. Conf. Motion & Vibration Control 1-6 (Sep. 1996), pp. 93～98
92) H. Ogawa, Y. Ishikawa, T. Kitahara and S. Kaneko, Tensile Testing of Microfabricated Thin Films, Proc. 5th Int. Conf. on Micro Electro, Mechanical Systems and Components (Sep. 1996), pp. 229～234
93) K. Yamanaka, H. Takano, E. Tomita and M. Fujihira, Lateral Force Modulation Atomic Force Microscopy of Langmuir-Blodgett Film in Water, Jpn. J. Appl. Phys. 35 1-10 (Oct. 1996), pp.5421～5425
94) N. Tanaka, S. D. Snyder and C. H. Hansen, Distributed Parameter Model Filtering Using Smart Sensors, ASME, J. Vibration & Acoustics 118 (Oct. 1996), pp. 630～640
95) T. Kitahara, Y. Ishikawa, T. Terada, N. Nakajima and K. Furuta, Development of Micro-Lathe, Proc. 2nd Int. Micro machine Symp. (Oct. 1996), pp. 59～67
96) H. Ogawa, Y. Ishikawa, T. Kitahara and S. Kaneko, Measurements of Stress-strain Diagrams of Thin Films by a Developed Tensile Machine, Proc. SPIE's 1996 Symp. on Micro-machining and Micro-fabrication, Micro-lithography and Metrology in Micro-machining II (Oct. 1996), pp. 272～279
97) K. Kondo, Study on Wave Drives (2nd Report) Design of Involute Tooth Profiles, Trans. of JSME 62-603 (Nov. 1996), pp. 4363～4368
98) M. Kuroda, M. Nakai, T. Hikawa and Y. Matsuki, Bifurcations of Higher Subharmonics and Chaos in a Forced Vibratory System with an Asymmetrical Pestoring Force, Trans. Jpn. Soc. Mech. Eng. Series C, 39-4 (Dec.1996), pp. 753～766

Energy and Environmental Technology

99) A. Sasamoto, H. Matsumiya, S. Kawamura and T. Ogawa, Comparison between Variable and Constant Rotor Speed Operation on WINDMEL- II, Proc. Energy Week '96 Conf. & Exhibition, (Jan. 1996), pp. 110～114
100) A. Yabe and T. Akiya, Advanced Heat Pumps and Their Economic Aspects - The Case for Super Heat Pump, Proc. lEA Heat Pump Center Workshop “Systems and Controls for Energy Efficiency” (May 1996), pp. 1～9
101) S. M. Kum, Y. Kawaguchi and J. Y. Seo, A Study on Heat Transfer Enhancement by Square Rod Array in Impinging Jet System, Heat Transfer-Japanese Research, 24 (2) (May 1996), pp. 193～207
102) J. Hama, S. Takahashi, H. Furutani and N. Iki, A Closed Gas Turbine System by using of Hydrogen-Oxygen Combustion, 11th Int. World Hydrogen Energy Conf. (Jun. 1996), pp. 1909～1913
103) Y. Kawaguchi, Y. Tawaraya, A. Yabe, K. Hishida and M. Maeda, Active Control of Turbulent Drag Reduction in Surfactant Solutions by Wall Heating, Proc. Symp. on Turbulent Modification and Drag Reduction (ASME) FED 237 (Jul. 1996), pp. 47～52
104) J. Shakal and S. Goto, Formation and Combustion of a Monodisperse Kerosene Droplet Cloud Under Microgravity, Drop Tower Days 1996 in Bremen (Jul. 1996), pp. 3-31～33
105) Y. Kawaguchi, Y. Tawaraya, A. Yabe, K. Hishida and M. Maeda, Turbulent Transport Mechanism in a Drag Reducing Flow with Surfactant Additive Investigated by Two Component LDV, Proc. 8th Int. Symp. on Application of Laser Techniques to Fluid Mechanics (Jul. 1996), pp. 29.4.1～29.4.7
106) A. Yabe, S. Terakado, J. P. Longtin, M.C. Hipwell and Chang-Lin Tien, Thermoelectric Characteristics of Microscale Thin Film Thermocouples, US.-Japan Joint Seminar on Molecular & Microscale Thermal Eng. (Aug. 1996), pp. 1～8
107) B. H. Kang and A. Yabe, Performance Analysis of a Metal-Hydride Heat Transformer for Waste Heat Recovery, Appl. Thermal Eng. 16, Nos8/9 (Aug 1996), pp. 677～690
108) J. Schmied Perger, S. Takahashi and H. Fujii, Improved RF Plasma Jet Generation of Singlet Delta Oxygen, Proc. 11th Symp. on Gas Flow and Chemical Lasers and High Power Laser Conf. (Aug.1996)
109) Q. Liu, F. Takemura and A. Yabe, Solubility and Diffusivity of Carbon Monoxide in Liquid Methanol, J. Chem. Eng. Data 41 (Sep.1996), pp. 589～592
110) F. Takemura, Q. Liu and A. Yabe, Effect of Density-Induced Natural Convection on the Absorption Process of Single Bubbles under a Plate, Chem. Eng. Sci. 51-20 (Sep.1996), pp.4551～4560
111) S. Goto, J. Shakal and H. Daigo, LPG Engine Research and Development in Japan, SAE Convergence 96, SAE Paper 96C052 (Oct. 1996), pp. 423～429
112) S. R. Park, H. K. Yoon and Y. Kawaguchi, Experimental Study of Turbulent Characteristics in Drag Reducing Channel Flow with 2D-LDV, Proc. 3rd KSME/JSME Thermal Eng. Conf. (Oct. 1996), pp. 221～226
113) Q. Liu, F. Takemura and A. Yabe, Transport Process of CO and H₂ Gases in Liquid Phase Methanol Synthesis and Reaction Rate, 4th Int. Symp. on Heat Transfer with Exhibition (Oct. 1996), pp. 760～765
114) N. Aya, H. Iwamoto and F. G. Shi, Generation of Zinc Compound Particles by Pulsed C0₂ Laser Irradiation, Proc. 15th Annual Conf. of the American Association for Aerosol Research (Oct. 1996), p.360
115) Y. Hasegawa, K. Tsukamoto, K. Tsuji, T. Furuya, K. Yoshikawa, H. Yamasaki and S. Shioda, Seed Fraction Measurement and Control in Fuji-1 Facility, Proc. 12th Int. Conf. on MHD Elec. Power Generation (Oct. 1996), pp. 632～640
116) Y. Okuno, T. Okamura, K. Yoshikawa, T. Suekane, K. Tsuji, K. Ohgaki, S. Kabashima, S. Shioda, H. Yamasaki, Y. Hasegawa, K. Matsutani, M. Tezuka, S. Ikeda and H. Mukai, Closed Cycle MHD Power Generation Experiments with Fuji-i Blow Down Facility, Proc. 12th Int. Conf. on MHD Elec. Power Generation (Oct. 1996), pp. 155～164
117) K. Seo, M. Shiraishi and M. Murakami, Temperature Oscillations of Working Gas Inside a Basic, an Orifice and a Double Inlet Pulse Tube Refrigerators, Advances in Cryogenic Eng. 41 (Dec.1996), pp. 1395～1402
118) M. Shiraishi, Y. Kim, K. Seo and M. Murakami, Start-up Behavior of Pulse Tube Refrigerator, Advances in Cryogenic Eng. 41 (Dec.1996), pp. 1455～1462
119) Q. Liu, F. Takemura and A. Yabe, Solubility of Hydrogen in Liquid Methanol and Methyl Formate at 200℃ to 1400℃, J. Chem. Eng. Data 41-5 (1996), pp.1141～1143

Manufacturing Technology

120) M. Hattori, H. Noguchi, S. Ito, T. Suto and H. Inoue, Estimation of Thermal - Deformation in Machine Tools Using Neural Network Technique, J. Mater. Processing Tech. 56 (Jan. 1996), pp. 765～772
121) C. Meizer, M. Hattori and C. Tsutsui, Schleifmodusbeurteilung von Keramik als Beispiel fur Oberflachenmikrogeometrie - Charakterisierung, Vortraege:IX Int. Oberfllachenkolloquium (Jan. 1996), pp. 171～182
122) M. Hattori, H. Inoue and N. Nomura, Design Strategy for Ecologically Conscious Product, Proc. 3rd Int. Seminar on Life Cycle Eng. (Mar.1996), pp. 99～106
123) J. C. Fu, C. A. Troy and K. Mon, Chatter Classification by Entropy Functions and Morphological Processing in Cylindrical Traverse Grinding, Precision Eng. 18-2/3 (Apr. 1996), pp. 110～117
124) H. Takagi, K. Kikuchi, R. Maeda, T. R. Chung and T. Suga, Surface Activated Bonding of Silicon Wafers at Room Temperature, Appl. Phys. Letters (Apr. 1996), p.2222
125) T. Sano and K. Kawai, Activities of the JSTP Committee on Environmental Issues, J. Mater. Processing Tech. 59 (May 1996), pp. 183～185
126) T. Sano, Y. Murakoshi, H. Takagi, T. Homma, H. Takeishi and M. Mayuzumi, Characterization of Diamond-Dispersed Cu-Matrix Composite, Mater. Trans., JIM 37-5 (May 1996), pp. 1132～1137
127) N. Sawai, J. Song and H. Park, Automated Measurement Tool Wear Using an Image Processing System, Int. J. Jpn. Soc. for precision Eng. 30-2 (Jun. 1996), pp. 112～117
128) S. Jones, K. Mori and 0. Ryabov, Cutting Tool Sensor and Requirements for Reducing Process Variation, Proc. Jpn. / USA Symp. on Flexible Automation -1996-2 (Jul. 1996), pp. 991～998
129) Y. Ueno, K. Mori and N. Kasashima, An On-line Diagnostic Method to Predict the Spalling on a Ball Bearing, Proc. Jpn. / USA Symp. on Flexible Automation -1996-1 (Jul. 1996), pp. 449～542
130) K. Mori, N. Kasashima and H. Inoue, Teamworking Environment for Advanced Manufacturing (TEAM) - Conceptual System Design -, Proc. Jpn. / USA Symp. on Flexible Automation -1996-1 (Jul. 1996), pp. 661～664
131) K. Mori, N. Kasashima, T. Yoshioka and Y. Ueno, Prediction of Spalling on a Ball Bearing by Applying the Discrete Wavelet Transform to Vibration Signals, Wear 195 (Jul. 1996), pp. 162～168
132) 0. Ryabov, K. Mori and N. Kasashima, An In-process Direct Monitoring Method for Milling Tool Failures Using a Laser Sensor, Annals of the CIRP 45-1 (Aug. 1996), pp. 97～100
133) C. Lee, T. Itoh, R. Maeda and T. Suga, Micromachined Piezoelectric Force Sensors Based on Sol-gel Derived PZT and PNNZT Thin Films, Microsystem Technologies 96, Potsdam, Germany, (Sep.1996), pp. 357～362
134) C. Lee, T. Itoh, J. Chu, R. Maeda and T. Suga, Micromachined Piezoelectric PZT Force Sensors for Scanning Force Microscope, Proc. of 3rd Int. Symp. of Measurement Technology and Intelligent Instruments (Sep.1996), pp. 328～335
135) I. Goncharenko, K. Mori and N. Kasashima, Strategies to Develop a Telemonitoring Technology for Machine Tools Via the World Wide Web, Proc. 2nd Int. Conf. on the Design of Information Infrastructure Systems for Manufacturing (Sep.1996), pp. 14- 1～12
136) K. Masui, S. Chonan and Z. W. Jiang, Warp Control of a silicon-Wafer Slicer Cutting a Crystal Ingot, Proc. of Third Int. Conf. on Motion & Vibration Control (Sep. 1996), pp. 238～243
137) H. Takagi and R. Maeda, T. R. Chung and T. Suga, Silicon Wafer Direct Bonding at Room Temperature by the Surface Activation Method, Micro System Technologies 96, (Sep. 1996), p.319
138) S. Sugiyama, Y. Zhang, H. Ueno, M. Hosaka, T. Fujimoto, R. Maeda and T. Tanaka, A Compact SR Beam Line for Fabrication of High Aspect Ratio MEMS Micro Parts, Proc. MHS 1996, Nagoya, (Oct. 1996), pp. 79～84
139) K. Hanada, Y. Murakoshi, H. Negishi and T. Sano, Extrusion Processing of Aluminum-lithium/SiCp Composite Produced by Mechanical Milled Powders, Advanced Tech. of Plasticity 1 (Oct. 1996), pp. 255～258
140) T. Shimizu and T. Sano, Development of a 3D Metal Forming Simulator Using a Penalty Method Contact Algorithm and its Connecting with CAD System, Advanced Tech. of Plasticity 1 (Oct. 1996),pp. 385～388
141) S. Suto, M. Takahashi and T. Sano, Effect of Boron Addition on the Bending Properties of Intermetallic Ni₃Al Sheet, Advanced Tech. of Plasticity 2 (Oct. 1996), pp. 603～606
142) M. Takahashi, Y. Murakoshi, T. Sano and S. Fuchizawa, Blanking of an Amorphous Alloy by Ion Implanted P/M High Speed Punch, Advanced Tech. of Plasticity 2 (Oct. 1996), pp. 875～878
143) C. Lee, R. Maeda, T. Itoh and T. Suga, Development of Self-excited Force Sensing Piezoelectric PZT Microcantilevers for Dynamic SFM, Proc. of 3rd France-Japan / 1st Europe-Asia Congress on Mechatronics 1 (Oct. 1996), pp. 285～290
144) R. Maeda, K. Kikuchi, S. Matsumoto and S. Sugiyama, Mask Fabrication for Micro Three Dimensional Structuring by UV Laser and Xray, Proc. of 3rd France-Japan / 1st Europe-Asia Congress on Mechatronics 2 (Oct. 1996), pp. 546～550
145) H. Takagi, R. Maeda, T. R. Chung and T. Suga, Room Temperature Wafer Bonding in a Vacuum for Assembling Micro Parts, Proc. of 3rd France-Japan / 1st Europe-Asia Congress on Mechatronics (Oct. 1996), p.551
146) K. Hanada, Y. Murakoshi, H. Negishi and T. Sano, Microstructures and Mechanical Properties of Al-Li/Sicp Composite Produced by Extrusion Processing, J. Mater. Processing Tech. 63 (Nov.1966), pp.405～410
147) S. Miyazawa, H. Yoshida and Y. Murakoshi, Monitoring of Metal-Powder Diameter by Eddy-Current Sensor, J. Mater. Processing. Tech. 63 (Nov.1996) pp. 303～306
148) S. Ito, T. Yoshikawa, S. Miyazawa and K. Mon, Machinability of Ni₃Al-Based Intermetallic Compounds, J. Mater. Processing Tech. 63 (Nov.1966) pp. 181～186
149) Y. Okazaki, S. Sasaki and R. Murata, Micro-Dynamics of a Slide Mechanism Using Rolling Elements, Proc. ASPE 1996 Annual Meeting 14 (Nov. 1996), pp. 342～345
150) N. Ozawa, S. Kawabe and K. Mizuhara, The Effect of Circular Groove on Flatness Error of Metal Mirror Caused by Chucking Force, Proc. ASPE 1996 Annual Meeting 14 (Nov. 1996), pp. 243～246
151) N. Kasashima, C. Tsutsumi, K. Mori and C. Troy, Grinding Mode Classification of Ground Ceramics using 2-Dimensional Wavelet Transform, Proc. of 1996 IEEE Conf. on Emerging Tech. and Factory Automation 1 (Nov. 1996), pp.70～75
152) T. Shirai, K. Sibata, A. Takahashi, K. Mori, N. Kasashima and Y. Ueno, Method for Detecting Faults in FFUs Using SDP based on Audio Signal Analysis, Proc. of 1996 IEEE Conf. on Emerging Tech. & Factory Automation 1 (Nov. 1996), pp. 243～247
153) S. Sado and A. Iwata, Environmental Load Evaluation of Machinery Production Systems by Production Line Simulation, Proc. 2nd Int. Conf. on EcoBalance (Nov. 1996), pp. 441～446
154) R. Maeda, C. Lee, A. Schroth, T. Itoh and T. Suga, Development of Micromachined Force Sensors and Optical Mirror Actuators Based on Sol-gel Derived Ferroelectric Thin Films, IEDMS'96 Hsinchu Taiwan E4 (Dec. 1996), pp. 319～322
155) C. Lee, T. Itoh, J. Chu, R. Maeda and T. Suga, Microfabricated Piezoelectric Force Sensing PZT Cantilever Array for Multiprobe Scanning Force Microscope, IEDMS'96 Hsinchu Taiwan E4 (Dec. 1996), pp. 323～326

Robotics

156) K. Tani, Friction Models for a Mobile Machine Using Piezo Vibration, Proc. 4th Int. Workshop on Advanced Motion Control (Mar. 1996), pp. 717～722
157) 0. Matsumoto, S. Kajita and K. Tani, Dynamic Trajectory Control of a Variable Structure Type Four-Wheeled Robot to Pass Over Steps, Proc. 4th Int. Workshop on Advanced Motion Control (Mar. 1996), pp. 253～258
158) S. Kajita and K. Tani, Adaptive Gait Control of a Biped Robot Based on Real-time Sensing of the Ground Profile, Proc. IEEE Int. Conf. on Robotics & Automation (Apr.1996), pp. 570～577
159) H. Tokashiki, P. Akella, K. Kaneko, K. Komoriya and K. Tanie, Macro-Micro Teleoperated Systems with Sensory Integration, Proc. IEEE Int. Conf. on Robotics & Automation (Apr.1996), pp. 1687～1693
160) T. Shibata, K. Ohkawa and K. Tanie. Spontaneous Behavior of Robots for Cooperation-Emotionally Intelligent Robot System, Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 2426～2431
161) H. Maekawa, K. Tanie and K. Komoriya, Dynamic Grasping Force Control Using Tactile Feedback for Grasp of Multifingered Hand, Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 2462～2469
162) H. Zhang, K. Tanie and H. Maekawa, Dexterous Manipulation Planning by Grasp Transformation, Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 3055～3060
163) S. Hirose and H. Takeuchi, Study on Roller-Walk (Basic Characteristics and its Control), Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 3265～3270
164) H. Zhang, H. Maekawa and K. Tanie, Sensitivity Analysis and Experiments of Curvature Estimation Based on Rolling Contact, Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 3514～3519
165) H. Arai, Controllability of a 3-DOF Manipulator with a Passive Joint under a Nonholonomic Constraint, Proc. IEEE Int. Conf. on Robotics & Automation (Apr. 1996), pp. 3707～3713
166) H. Maekawa, K. Tanie and K. Komoriya, Tactile Sensor Based Grasp and Manipulation of an Object by a Multifingered Hand, Proc. IEEE Int. Conf. on Robotics & Automation (Apr.1996), Video Proc.
167) 0. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal and A. Baader, The Robotic Assistant, 1996 IEEE Robotics & Automation Conf. (Apr. 1996), Video Proc.
168) H. Adachi, N. Koyachi, T. Arai, K. Homma and K. Nishimura, Development of a Mobile Manipulator for Underground Excavation Task, Proc. 13th Int. Symp. on Automation & Robotics in Construction (Jun. 1996), pp.73～80
169) S. Hashino, Development of New Type Stair Lift for Wheelchair Users, Proc. Int. Symp. on Intelligent Robotics Systems (Jun. 1996), pp. 561～566
170) N. Koyachi, T. Arai, H. Adachi and A. Murakami, Mechanical Design of a Hexapod with Integrated Limb Mechanism: MELMANTIS, Proc. ASME-ISCIE Jpn.-U.S.A. Symp. On Flexible Automation (Jul. 1996), pp. 139～144
171) T. Arai, T. Tanikawa, J. P. Merlet and T. Sendai, Development of a New Parallel Manipulator with Fixed Linear Actuator, Proc. ASME-ISCIE Jpn.-US.A. Symp. On Flexible Automation (Jul. 1996), pp. 145～149
172) S. Hashino, Development of New Type Stair Lift for Wheelchair Users, Proc. ASME-ISCIE Jpn.- U.S.A Symp. on Flexible Automation (Jul. 1996), pp. 233～236
173) T. Yano, M. Murakami, T. Suwa and T. Yamamoto, Development of a Self-contained Scanning Type Suction Cups for the Self-contained Wall Climbing Robot, Proc. lASTED Int. Conf. on Robotics & Manufacturing (Aug. 1996), pp. 297～299
174) 0. Matsumoto, S. Kajita, K. Tani and K. Igura, Fast Passing Over Steps by a Variable Structure Type Four-wheeled Robot Considering the Collision in Landing, Proc. Second ECPD Int. Conf. on Advance Robotics, Intelligent Automation & Active Systems (Sep. 1996), pp. 356～361
175) M. Saigoh, N. Tanaka, A. Koumura and K. Tani, An Approach to Vibration Control of Multiple-Pendulum System by Wave Absorption, Proc. Third Int. Conf. MOVIC 3 (Sep. 1996), pp. 262～267
176) 0. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal and A. Baader, Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems, Robotic Research 7 (Sep. 1996), pp. 333～342
177) H. Takeuchi and K. Tani, Development of "MEL HORSE", Proc. Second ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems (Sep.1996), pp. 288～293
178) T. Yano, K. Suwa, K. Sakurada and M. Murakami, Development of a Wall Climbing Robot II with Scanning Type Suction Cups, Proc. Second ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems (Sep.1996), pp. 368～373
179) K. Homma, Feasibility Study of the Walking Wheelchair Concept, HUT Department of Machine Design Publication Series C nr. 282 (Oct. 1996), p.34
180) S. Hashino, Development of Crawl Type Stair Lift for Wheelchair Users, Proc. Int. Advanced Robotics Programme, Int. Workshop on Medical Robots (Oct. 1996), pp. 47～54
181) T. Yano, M. Kaneko and M. Sonoda, Position Control of a Developed Synchronous Motor with Three Degree of Freedom, Proc. 3rd Fr. -Jpn. Congress & 1st Europe-Asia Cong. on Mechatronics 2 (Oct. 1996) pp. 127～132
182) H. Takeuchi, Development of Leg-Functions Coordinated Robot "MEL HORSE", Proc. 3rd Fr. -Jpn. Congress & 1st Europe-Asia Congress on Mechatronics 2 (Oct. 1996), pp. 348～353
183) A. Agah and K. Tanie, Interactive Human-Robot Pole Balancing Utilizing Multiple Virtual Fuzzy Agents, Distributed Autonomous Robotic Systems 2 (H. Asama, T. Fukuda, T Arai and I. Endo eds.), Springer- Verlag Tokyo, (Oct. 1996), pp. 326～336
184) 0. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg and A. Casal, Decentralized Cooperation of Multiple Mobile Manipulators, Proc. 5th IEEE Int. Workshop on Robot & Human Communication (Nov. 1996), pp. 183～188
185) Y. J. Cho, T. Kotoku, K. Komoriya and K. Tanie, A Discrete Event Approach to the Automatic Command Generation in a Teleprogramming System, Proc. 5th IEEE Int. Workshop on Robot & Human Communication (Nov. 1996), pp. 238～243
186) A. Agah and K. Tanie, Human-Machine Interaction Through an Intelligent User Interface Based on Contention Architecture, Proc. 5th IEEE Int. Workshop on Robot & Human Communication (Nov. 1996), pp. 537～542
187) H. Arai, Position Control of a 3-DOF Manipulator with a Passive Joint under a Nonholonomic Constraint, Proc. IEEE/RSJ Int. Conf. on Intelligent, Robots & Systems (Nov. 1996), pp. 74～80
188) K. Iwamoto and K. Tanie, Bionocular Head Mounted Display with Eye Movement Tracking Function : Development of the Prototype and Its Application, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 354～359
189) T. Tanikawa, T. Arai and T. Masuda, Development of Micro Manipulation System with Two-Finger Micro Hand, Proc. IEEE/RSJ int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 850～855
190) N. Koyachi, T. Arai, H. Adachi and A. Murakami, Design and Control of Hexapod with Integrated Limb Mechanism : MELMANTIS, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 877～882
191) T. Arai, Robots with Integrated Locomotion and Manipulation and Their Future, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 541～545
192) T. Arai, J. Herve and T. Tanikawa, Development of 3 DOF Micro Finger, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 981～987
193) 0. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg and A. Casal, Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 546～553
194) H. Adachi, N. Koyachi, T. Arai and K. Nishimura, Control of a Manipulator Mounted on a Quadruped, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996), pp. 883～888
195) 0. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg and A. Casal, Coordination and Decentralized Cooperation of Multiple Mobile Manipulator, J. Robotic Systems 13-11 (Nov. 1996), pp. 755～764
196) N. Shiroma, 0. Matsumoto, S. Kajita and K. Tani, Cooperative Behavior of a Wheeled Inverted Pendulum for Object Transportation, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (Nov. 1996) pp. 396～401
197) S. Hashino, Development of Crawl Type Stair Lift for Wheelchair Users, Proc. 18th Annual Int. Conf. of the IEEE Eng. in Medicine and Biology Society (Nov. 1996), CD-ROM
198) S. Hashino, Design Methodology of Drive Guide for Crawl Type Stair Lift, Proc. 4th Int. Conf. on Control, Automation, Robotics & Vision (Dec. 1996), pp. 1962～1967
199) T. Shibata, T. Abe, K. Tanie and M. Nose, Skill based Motion Planning in Hierarchical Intelligent Control of a Redundant Manipulator, Robotics & Autonomous Systems 18 (1996),pp. 65～73

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