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1998 Fiscal Year Final Research Report Summary

A Study on the Extraction of Balance Information based on the Biological Evolving Mechanism

Research Project

Project/Area Number 08650312
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNiigata University

Principal Investigator

OKADA Tokuji  Niigata Univ.Faculty of Eng., Professor, 工学部, 教授 (60194362)

Project Period (FY) 1996 – 1998
KeywordsSensor of Balance / Magnetic Flux / Magnetic Potential / Spherical Vessel / Floating Board / Hall-Effect Device / Gauss Meter / Circular Permanent Magnet
Research Abstract

This paper proposes a magnetic measurement principle to develop a balance sensor. Basically, the sensor is composed of a spherical vessel sealing certain amount of liquid, a mushroom-shaped float and a permanent magnet. The circular plated magnet is fixed on the root of the float stem. According as the liquid moves in the vessel, the float changes the position of the magnet. And the Hall effect devices located around the vessel sense the change of balance with the aid of a signal processor.
At first, the density of the Hall effect devices and the algorithm for determining the direction of the resultant acceleration are considered. Also, the results of experiments for magnet's position and the angle of balance are shown. Then, the measurement error is analized since the magnet is free to move on the float in the vessel and the measurement error is caused not only by the position eror of the Hall-Effect device located at the vessel exterior, but also by the clearance betweeen the float an … More d the vessel interior. In particular, the errors produced by the changes of the float's height, position on the liquid surface. and inclination are investigated and calculated by supposing possible changes of the sensor parameters in the practical application.
Finally, we extend the measurement principle so that we can sense not only the direction of acceleration but also the azimus in 3-D space. Basically, the sensor is composed of a spherical vessel filling a considerable amount of liquid, a mushroom-shaped float moving freely with a small clearance in the vessel, two permanent magnets fixed at the float's cap and stem, and Hall-effect devices located around the vessel exterior. We describe the structural mechanism of the sensor head and investigate the mathematical formulation to estimate the magnetic flux intensity sensed by the Hall devices, and also the signal processing algorithm for determining the magnet position as a common point of magnetic potential curves depicted by using the Hall output. The data of magnetic flux intensity obtained by calculation and experiment are compared to verify the validity of the measurement principle. The proposed method is effective in detecting all directions of the resultant acceleration of motion and gravity with uniform resolution, since the sensor has no rotation axes. Less

  • Research Products

    (13 results)

All Other

All Publications (13 results)

  • [Publications] 岡田徳次, 木村邦恭: "磁気的手段による平衡覚抽出法の基礎的検討" 日本機会学会RoboMeC'97 講演論文集. 779-780 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 岡田徳次, 木村邦恭: "磁気的手段による平衡覚抽出法の基礎的実験" 第15回日本ロボット学会学術講演会論文集. 535-536 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Okada, K.Kimura, N.Mimura: "Basic Study on a Magnetic Measurement for Balance Utilizing a Spherical Vessel" Proc.of IEEE Int.Conf.on Robotics and Automation. 2140-2146 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 岡田徳次, 木村邦恭: "フロート型平衡覚センサの誤差解析" 日本機会学会RoboMeC'98 講演論文集. 2CIII5-1(1)-(2) (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 岡田徳次, 木村邦恭, 三村宣治: "フロート型平衡覚センサの基礎的検討" 日本ロボット学会誌. 17巻4号. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 岡田徳次, 三村宣治, 杉戸伸也: "浮動磁石を用いる加速度方向と方位の検出について" 日本機会学会RoboMeC'99 講演論文集. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Okada, K.Kimura: "Basic study on a magnetic measurement of balance" Proc.of JSMERoboMeC'97. 779-780 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, K.Kimura: "Basic experiment on a magnetic measurement of alance" Proc.of RSJ Annual Conf.535-536 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, K.Kimura and N.Mimura: "Basic study on a magnetic measurement for balance" Proc.of IEEE Int.Conf.on Robotics and Automation. 2140-2146 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, K.Kimura: "Error analysis of the float type balance sensor" Proc.of JSMERoboMeC'98. 2CIII5- (1), (2). (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, K.Kimura and N.Mimura: "Fundamental study on a float-type balance sensor" J.of Robotics Society of Japan. Vol.17, no.4. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, S.Sugito and N.Mimura: "Measurement principle of both the direction of acceleration and azimus utilizing permanent magnets floating in a spherical vessel" Proc.of 15th World Congress of the Int.Measurement Confederation IMEKO-XV. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Okada, N.Mimura and S.Sugito: "Measurement of both direction of acceleration and azimus utilizing floating magnets" Proc.of JSME RoboMeC'99. (1999)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-12-08  

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