Updated on 2024/03/27

写真a

 
HEYA Akira
 
Organization
Graduate School of Engineering Mechanical Systems Engineering 2 Associate professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Associate professor
Contact information
メールアドレス
External link

Degree 2

  1. Doctor (Engineering) ( 2021.3   Osaka University ) 

  2. Master (Engineering) ( 2018.3   Osaka University ) 

Research Interests 3

  1. ハプティクス

  2. アクチュエータ

  3. Multiple-degree-of-freedom system

Research Areas 3

  1. Informatics / Mechanics and mechatronics

  2. Informatics / Robotics and intelligent system

  3. Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

Current Research Project and SDGs 4

  1. 多自由度アクチュエータにより駆動する高性能ロボット眼球の実現

  2. 超小型3次元力覚提示システムの構築

  3. 磁気ねじアクチュエータのセルフセンシングと力制御

  4. 磁気浮上システムの非線形制御と状態推定

Research History 7

  1. Nagoya University   Graduate School of Engineering Mechanical Systems Engineering   Associate professor

    2023.4

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  2. Nagoya University   Associate professor

    2023.4

  3. The University of Electro-Communications   Graduate School of Informatics and Engineering Department of Mechanical and Intelligent Systems Engineering

    2022.4

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  4. Osaka University   Graduate School of Engineering, Division of Materials and Manufacturing Science

    2022.3

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  5. Nagoya University   Graduate School of Engineering, Department of Mechanical Systems Engineering   Assistant Professor

    2022.3 - 2023.3

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  6. Osaka University   Designated assistant professor

    2021.4 - 2022.2

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  7. Japan Society for Promotion of Science

    2018.4 - 2021.3

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Education 3

  1. Osaka University

    2018.4 - 2021.3

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  2. Osaka University

    2016.4 - 2018.3

  3. Osaka University   Graduate School of Engineering   Department of Adaptive Machine Systems

    2016.4 - 2018.3

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Professional Memberships 5

  1. IEEE

  2. 電気学会

  3. 日本AEM学会

  4. 日本機械学会

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  5. ターボ機械協会

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Committee Memberships 9

  1. 日本機械学会 機械力学・計測制御部門 ロータ・ダイナミクス・セミナー研究会   幹事  

    2023.12   

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  2. 電気学会 産業応用部門 アクチュエータの未来予測調査専門委員会   委員  

    2023.7 - 2026.6   

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  3. ターボ機械協会 多領域ダイナミクス設計研究分科会   委員  

    2023.7   

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  4. 精密工学会 超精密位置決め専門委員会   委員  

    2023.4   

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  5. 電気学会 巧みなアクチュエーション技術に関する調査専門委員会   幹事補佐  

    2023.4 - 2025.3   

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  6. 電気学会 産業応用部門 アクチュエータの将来動向調査専門委員会   委員  

    2022.11   

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    Committee type:Academic society

  7. 電気学会 産業応用部門 アクチュエータの将来動向調査専門委員会   委員  

    2022.11 - 2023.6   

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  8. 機械学会 2023年度機械力学・計測制御部門講演会(Dynamics and Design Conference 2023)   オーガナイザ(OS7-1 アクチュエータとダイナミクス・計測・制御)  

       

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  9. 機械学会 2023年度機械力学・計測制御部門講演会(Dynamics and Design Conference 2023)実行委員会   委員  

       

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Awards 12

  1. 優秀論文発表賞

    2024.1   電気学会D部門産業計測制御技術委員会   電磁アクチュエータの構造集積化に関する検討

    部矢明

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  2. 奨励賞

    2023.3   日本機械学会 東海支部   アクチュエータの多自由度駆動化と姿勢制御理論の構築

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  3. 論文賞

    2022.10   日本AEM学会   球面同期アクチュエータの深層強化学習による姿勢制御

    部矢明, 正力一樹, 平田勝弘

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  4. Best Paper Award

    2021.11   24th International Conference on Electrical Machines and Systems   A Linear Electromagnetic Actuator with Three Holding Points for Gear Shift Unit

    Shuto Sakamoto, Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Mineo Kurita

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  5. 奨励賞

    2021.11   日本AEM学会   ボイスコイル型多自由度アクチュエータの基礎検討

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  6. 大学院研究奨励賞

    2021.3   (公社)自動車技術会  

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  7. 優秀論文発表賞(本部表彰)

    2020.4   (社)電気学会  

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  8. 海外論文発表奨励賞

    2019.10   (一社)生産技術振興協会  

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  9. Best Paper Award

    2019.8   22th International Conference on Electrical Machines and Systems   Development of Triaxial Active Control Magnetic Bearing with Asymmetric Structure

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

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  10. Best Paper Award

    2019.8   22th International Conference on Electrical Machines and Systems   Design and Analysis of a Six-Degree-of-Freedom Oscillatory Actuator

    Tomoaki Mototsuji, Akira Heya, and Katsuhiro Hirata

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  11. 修士論文発表会 最優秀論文賞

    2018.3   大阪大学大学院工学研究科 知能・機能創成工学専攻  

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  12. 修士論文発表会 ベストプレゼンテーション賞

    2018.3   大阪大学大学院工学研究科 知能・機能創成工学専攻  

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Papers 90

  1. Experimental Verification and Analysis of Six-Degree-of-Freedom Electromagnetic Actuator with Short-Stroke Reviewed

    Akira Heya, Tomoaki Mototsuji, Katsuhiro Hirata

    IEEE Transactions on Energy Conversion     page: 1 - 9   2024

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tec.2024.3349431

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  2. Analysis and Experimental Verification of a Magnetic Lead Screw Actuator With Step Skew Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Yuki Anraku

    IEEE Transactions on Industry Applications   Vol. 59 ( 6 ) page: 6736 - 6744   2023.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tia.2023.3309921

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  3. Triaxial Active Control Magnetic Bearing with Asymmetric Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

    IEEE Transactions on Industry Applications   Vol. 57 ( 5 ) page: 4675 - 4685   2021.9

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tia.2021.3089557

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  4. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Reviewed

    A. Heya, K. Hirata, T. Matsushita, Y. Kono

    IEEE Transactions on Magnetics   Vol. 56 ( 2 ) page: 1 - 4   2020.2

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2019.2952473

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  5. Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata

    IEEE Transactions on Magnetics   Vol. 54 ( 11 ) page: 1 - 5   2018.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2018.2845455

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  6. Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    IEEE Transactions on Magnetics   Vol. 54 ( 11 ) page: 1 - 5   2018.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2018.2845438

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  7. Failure acceleration and condition diagnosis of ball bearings by an excitation mechanism using piezo actuators Reviewed

    Akira Heya, Yuto Inoue, Tsuyoshi Inoue

    Mechanical Systems and Signal Processing   Vol. 213   page: 111319 - 111319   2024.5

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.ymssp.2024.111319

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  8. Predicting stability of synchronous nonlinear vibration in vertical rotating shaft system with journal bearing Reviewed

    Li Fan, Tsuyoshi Inoue, Akira Heya, Yusuke Watanabe

    Journal of Sound and Vibration   Vol. 572   page: 118191 - 118191   2024.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.jsv.2023.118191

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  9. 簡易磁極モデルに基づいた球面アクチュエータの 深層強化学習によるトルクマップ同定と姿勢制御 Reviewed

    澤拓真, 部矢明, 平田勝弘

    日本AEM学会誌     2024.3

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  10. Influence of Unbalance and Differential Pressure On the Stability of Vertical Rotor-seal System Reviewed

    Shogo Kimura, Tsuyoshi Inoue, Hiroo Taura, Akira Heya

    ASME Journal of Computational and Nonlinear Dynamics     page: 1 - 51   2024.2

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ASME International  

    Abstract

    The rotordynamic (RD) fluid force generated in fluid elements such as seals in turbomachinery affects the stability of turbomachinery and causes shaft vibrations. Various studies have been conducted to clarify the effects of seals on the stability of rotor systems. Many studies have investigated the rotor dynamics of horizontal shaft systems, considering the RD fluid force generated in the seals, and in these studies, the stability of horizontal shaft systems has been assessed via eigenvalue analysis using RD coefficients. However, few studies have analyzed vertical shaft systems. The dynamic behavior of vertical shafts differs significantly from that of horizontal shafts because the weight of the rotor does not act on the seal in a vertical shaft system. Vertical shaft systems are generally prone to instability because of the fluid film whirl, and the amplitude of the shaft whirl tends to be large. When the amplitude is large, the RD fluid force cannot be linearized around the equilibrium point using RD coefficients. Therefore, destabilization and stabilization phenomena that appear in vertical shaft systems cannot be predicted using eigenvalue analysis. Fluid-structure interaction (FSI) analysis that considers the interaction between the shaft vibration and the RD fluid force generated in seals is required to predict such phenomena. This study used FSI analysis to investigate the effects of unbalance and differential pressure on the stability of a vertical shaft system subjected to RD fluid force generated in the seal.

    DOI: 10.1115/1.4064725

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  11. Prediction of Instability in Rotating Shaft System with Casing by Operational Modal Analysis Reviewed

    Daiki Goto, Tsuyoshi Inoue, Shogo Kimura, Akira Heya, Shinsaku Nakamura, Yusuke Watanabe

    Proceedings of the 16th IFToMM World Congress     2023.11

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    Language:English   Publishing type:Research paper (international conference proceedings)  

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  12. Prototype Fabrication and Torque Measurement of Three-Degree-of-Freedom Spherical Actuator Driven by Four-Phase Reviewed

    Yusuke Tamaki, Akira Heya, Tsuyoshi Inoue

    IEEE Transactions on Magnetics   Vol. 59 ( 11 ) page: 1 - 5   2023.11

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2023.3291016

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  13. Design and Dynamic Analysis of a Two-Degree-of-Freedom Pneumatic-Electromagnetic Hybrid Actuator Using Bellows Pneumatic Actuator Reviewed

    Akira Heya, Yoshihiro Nakata, Keita Taki, Tsuyoshi Inoue, Katsuhiro Hirata

    Proceedings of the 49th Annual Conference of the IEEE Industrial Electronics Society     page: IECON23-001841   2023.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)  

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  14. Development of Compact 3-Degree-of-Freedom Oscillatory Actuator Reviewed

    Akira Heya, Ryosuke Nakamura, Katsuhiro Hirata

    Journal of Robotics and Mechatronics   Vol. 35 ( 5 ) page: 1312 - 1320   2023.10

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

    Haptics applications are receiving increasing attention in entertainment, medical support systems, and various industries. Three-dimensional (3D) haptics is important to provide users real experiences. Conventional haptic devices consist of many motors and mechanical elements grounded in an environment. Therefore, they are large in size and heavy. Haptic devices using asymmetric vibrations can display illusion forces with mobile structures. However, they need additional structures (comprising actuators) to generate a 3D illusion force; however, the operational mechanism becomes complex. To solve this problem, we propose the use of a 3-degree-of-freedom (3DOF) oscillatory actuator that can generate a 3DOF vibration using only one actuator. This study describes the basic characteristics and operating verification of the 3DOF oscillatory actuator. The static thrust characteristics are quantified and analyzed using a finite element method. The dynamics are calculated based on numerical simulations using a dynamic model. The prototype’s experimental results show that the 3DOF actuator can generate 3DOF vibration.

    DOI: 10.20965/jrm.2023.p1312

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  15. Dynamic Analysis of Switching Type Disturbance Suppression Control System Based on Disturbance Estimation of Triaxial Active Control Magnetic Bearing Reviewed

    Hai Maruyama, Akira Heya, Katsuhiro Hirata

    Proceedings of the 49th Annual Conference of the IEEE Industrial Electronics Society     page: IECON23-001841   2023.10

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  16. Observation and Prediction of Instability due to RD Fluid Force in Rotating Machinery by Operational Modal Analysis Reviewed

    Daiki Goto, Tsuyoshi Inoue, Akira Heya, Shogo Kimura, Shinsaku Nakamura, Yusuke Watanabe

    Proceedings of the 4th Asia Pacific Conference of the Prognostics and Health Management Society     2023.9

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  17. Influence of Slight Gravitational Effect on the Characteristics of Onset Speeds of Instability and Stability In the Vertical Rotating Shaft Supported by Journal Bearing Reviewed

    Li Fan, Tsuyoshi Inoue, Akira Heya

    Proceedings of the 11th IFToMM International Conference on Rotordynamics     2023.9

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    Authorship:Last author   Language:English   Publishing type:Research paper (international conference proceedings)  

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  18. Modeling of Sliding Bearings for Wear Diagnosis and Its Verification Using SVM Reviewed

    Masaki Goto, Tsuyoshi Inoue, Akira Heya, Keiichi Katayama, Shigeyuki Tomimatsu, Daiki Goto, Shogo Kimura, Shota Yabui

    Proceedings of the 4th Asia Pacific Conference of the Prognostics and Health Management Society     2023.9

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  19. Modeling of the Divergently Worn Annular Seal for the Two-Way Coupled Fluid–Structure Interaction Analysis of Shaft Vibration and Clearance Flow Reviewed

    Shogo Kimura, Tsuyoshi Inoue, Hiroo Taura, Akira Heya

    Proceedings of the 11th IFToMM International Conference on Rotordynamics     2023.9

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  20. Multiple-degree-of-freedom Damping Characteristics Evaluation of Dual Halbach Array Eddy Current Damper for Turbopump in Cryogenic Environment Reviewed

    Akira Heya, Tsuyoshi Inoue

    Proceedings of the 21st International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering     page: OA-53   2023.9

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  21. Verification Experiments of a Flat-Type Three-Degree-of-Freedom Haptic Actuator Reviewed

    Shota YAMAMOTO, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 31 ( 3 ) page: 431 - 436   2023.9

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    Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.31.431

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  22. The Influence of Differential Pressure on Stability of Vertical Rotor-Seal System Reviewed

    Shogo Kimura, Tsuyoshi Inoue, Hiroo Taura, Akira Heya

    Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference     page: 114617   2023.8

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  23. Design and Nonlinear Analysis of 2-Body Centrifugal Pendulum Vibration Absorber for Suppression of Multiple Harmonic Frequencies in Torsional Vibration of Rotor System Reviewed

    Xingyu Zhou, Tsuyoshi Inoue, Akira Heya

    Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference     page: 114618   2023.8

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  24. Failure diagnosis and physical interpretation of journal bearing for slurry liquid using long-term real vibration data Reviewed

    Goto Daiki, Inoue Tsuyoshi, Hori Takekiyo, Yabui Shota, Katayama Keiichi, Tomimatsu Shigeyuki, Heya Akira

    Structural Health Monitoring     2023.7

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    Authorship:Last author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:SAGE Publications  

    Pumps are important machines used in rivers, social infrastructure, and industrial facilities. During long-term operation, journal bearings that support the pump shaft are subject to wear and peeling caused by liquids, including slurry. Wear and peeling can change the characteristics of journal bearings and cause abnormal shaft vibration. If wear and peeling progress, it can severely damage the pump. Thus, periodic maintenance and replacement are required. However, the frequency of periodic maintenance should be reduced as much as possible from a cost standpoint. Therefore, it is desirable to monitor the condition of the machine and perform maintenance only when necessary. In this study, the long-term vibration of a submerged journal bearing with slurry-containing water was monitored and recorded to identify the features that are important for condition monitoring and diagnosis and to interpret their contributions. First, an experimental test rig for a rotating shaft system was developed and long-term vibration data and changes in wear were recorded. A machine learning model (support vector machine (SVM)) was trained to predict the wear and damage conditions of the bearings, and its effectiveness was verified. In addition, two important features were selected as major contributors to the wear and peeling phenomena of journal bearings. These important features were interpreted using partial dependence (PD), Individual Conditional Expectation (ICE), and SHapley Additive exPlanations (SHAP), and the degree of contribution and characteristics of these features were clarified. Later, a reduced SVM model was trained using only these important features, and its effectiveness was clarified using another bearing’s data of wear and peeling processes.

    DOI: 10.1177/14759217231184579

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    Other Link: http://journals.sagepub.com/doi/full-xml/10.1177/14759217231184579

  25. Basic Study of Multiple-Degree-of-Freedom Eddy Current Damper for Liquid Hydrogen Turbopump of Rockets Reviewed

    Yudai UMEKAWA, Akira HEYA, Tsuyoshi INOUE

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 31 ( 2 ) page: 285 - 290   2023.6

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    DOI: 10.14243/jsaem.31.285

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  26. Analysis of a 3-DOF Spherical Actuator Driven by 4-Phase Using Finite Element Method Reviewed

    Yusuke TAMAKI, Akira HEYA, Tsuyoshi INOUE

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 31 ( 2 ) page: 114 - 119   2023.6

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    DOI: 10.14243/jsaem.31.114

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  27. Study of Reward Functions for 3-DOF Control of Spherical Actuators Using Deep Reinforcement Learning Reviewed

    Kazuki SHORIKI, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 31 ( 2 ) page: 60 - 65   2023.6

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    Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.31.60

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  28. Force Generation Method of a Novel Three-Degree-of-Freedom Electromagnetic Actuator with Finger Ring Structure Reviewed

    Yujiro Dan, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     page: KOA-07   2023.5

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  29. Dyamic Modeling and Analysis of Six-Degree-of-Freedom Vibration Device using Multi-Degree-of-Freedom Electromagnetic Actuator Reviewed

    Kazuki Nagano, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     page: KOA-03   2023.5

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  30. Dynamic Analysis of Eddy Current Damper for Multiple-Degree-of-Freedom Vibration Reviewed

    Yudai Umekawa, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     page: FOA-14   2023.5

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  31. Dynamic Modeling of Two-Coil Two-Degree-of-Freedom Voice Coil Actuator Reviewed

    Yuna Ohashi, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     page: IOA-09   2023.5

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  32. Analysis of Three-Degree-of-Freedom Spherical Actuator Driven by Four-Phase Reviewed

    Yusuke Tamaki, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     page: IOA-03   2023.5

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  33. Analysis of a Magnetic Damping Structure for Ball Balancer Reviewed

    Shunya Fukuda, Akira Heya, Tsuyoshi Inoue

    Proceedings of the 2023 IEEE International Magnetics Conference     2023.5

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  34. Proposal of Variable Structure Type Non-linear Disturbance Control System of Triaxial Active Control Magnetic Bearing Reviewed

    Hai MARUYAMA, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 31 ( 3 ) page: 413 - 418   2023

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    Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Applied Electromagnetics and Mechanics  

    DOI: 10.14243/jsaem.31.413

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  35. High-precision trajectory tracking control of a multifrequency whirling orbit using adaptive feedforward cancellation for the efficient experimental estimation of fluid force Reviewed

    Atsuhiro Ota, Shota Yabui, Tsuyoshi Inoue, Akira Heya

    Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME   Vol. 144 ( 12 )   2022.12

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    Authorship:Last author   Publishing type:Research paper (scientific journal)  

    In recent years, there has been a demand for turbomachinery with increasing speed, pressure, and compactness owing to the increasing demand for high output and efficiency. Consequently, various shaft vibration problems have become apparent. The rotor dynamic (RD) forces are one of the causes of these axial vibrations, which can lead to instability of the rotor system. To ensure the reliability of turbomachinery, the effect of RD fluid force should be analyzed at the design stage. In this study, high-precision tracking control of a complex orbit was analyzed using an experimental approach, and a highly efficient and low-dispersion estimation of the RD fluid force was achieved. The target was a parallel annular seal, and an experimental system was developed to control the rotor position using a piezo-electric actuator. Using the adaptive feedforward cancellation (AFC), we suppressed the periodic disturbance caused by rotation, whirling, and disturbances, such as noise that existed uniformly at all frequencies. Thus, a high-precision tracking control with an orbit tracking error of approximately 1 μm was achieved. The RD fluid force was estimated from the output signal of the AFC during high-precision tracking control, and the RD coefficient was calculated using spectral analysis. Consequently, a highly accurate RD fluid force estimation with reduced dispersion was achieved. In addition, a multifrequency orbit control and RD fluid force estimation method were developed to improve the efficiency of the RD force estimation, which agreed well with the results of a single-frequency orbit.

    DOI: 10.1115/1.4055590

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  36. Three-Degree-of-Freedom Voice Coil Actuator Driven by a Four-Phase Current Reviewed

    Akira Heya, Katsuhiro Hirata

    Sensors   Vol. 22 ( 18 ) page: 6926 - 6926   2022.9

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    Camera attitude control systems for robots require a compact structure and high responsiveness. However, due to the combination structure of several actuators, the camera attitude control system is large. To address this issue, this study proposes a three-degree-of-freedom (3DOF) voice coil actuator. A single actuator is used to generate 3DOF motion, which is driven by a four-phase current. This study also describes the basic structure and operating principle of the actuator and clarifies the torque characteristics using a three-dimensional (3D) finite element method (FEM). Furthermore, the dynamic modeling and control methods are presented. The FEM and dynamic simulation results reveal that the proposed actuator can be arbitrarily driven in 3DOF.

    DOI: 10.3390/s22186926

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  37. Motion Control of Three-Degree-of-Freedom Spherical Actuator Driven by Four-Phase Reviewed

    Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 30 ( 2 ) page: 167 - 172   2022.6

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    DOI: 10.14243/jsaem.30.167

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  38. Study on Reward Multidimensionality in Deep Reinforcement Learning of Spherical Synchronous Actuators Reviewed

    Kazuki SHORIKI, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 30 ( 2 ) page: 185 - 190   2022.6

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    DOI: 10.14243/jsaem.30.185

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  39. Proposal of a Flat-Type Three-Degree-of-Freedom Haptic Actuator Reviewed

    Shota YAMAMOTO, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 30 ( 2 ) page: 173 - 178   2022.6

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    DOI: 10.14243/jsaem.30.173

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  40. Study of Deep Reinforcement Learning for Robust Control of Multi-Degree-of-Freedom Spherical Actuator Reviewed

    Hirotsugu FUSAYASU, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 30 ( 2 ) page: 203 - 209   2022.6

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    DOI: 10.14243/jsaem.30.203

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  41. Sensorless Position Control of Linear Electromagnetic Actuator for Gear Shift Unit Reviewed

    Shuto Sakamoto, Akira Heya, Katsuhiro Hirata, Noburu Niguchi, Mineo Kurita

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 30 ( 2 ) page: 191 - 196   2022.6

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    DOI: 10.14243/jsaem.30.191

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  42. Study on Disturbance Response of a Magnetic Lead Screw Actuator Invited Reviewed

    Akira Heya, Yoshihiro Nakata, Tetsuya Abe, Katsuhiro Hirata

    Proceedings of the International Power Electronics Conference 2022     page: 16C2-2   2022.5

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  43. Performance Analysis of a Compact Three‐Degree‐of‐Freedom Oscillatory Actuator for Haptic Device Reviewed

    Ryosuke Nakamura, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 17 ( 6 )   2022.3

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    DOI: 10.1002/tee.23577

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  44. Robust control of three‐degree‐of‐freedom spherical actuator based on deep reinforcement learning Reviewed

    Hirotsugu Fusayasu, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 17 ( 5 )   2022.1

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    DOI: 10.1002/tee.23563

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  45. Design and Analysis of Five-Degree-of-Freedom Oscillatory Actuator Reviewed

    Akira Heya, Katsuhiro Hirata

    IEEJ Journal of Industry Applications   Vol. 11 ( 1 ) page: 20 - 26   2022.1

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical Engineers of Japan (IEE Japan)  

    DOI: 10.1541/ieejjia.20004730

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  46. Modeling and Dynamic Analysis of Three-Degree-of-Freedom Spherical Actuator under Deep Reinforcement Learning Control Reviewed

    Hirotsugu Fusayasu, Akira Heya, Katsuhiro Hirata

    Proceedings of the 23rd International Conference on the Computation of Electromagnetic Fields     page: PD-P1-7   2022.1

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  47. Modeling and Dynamic Analysis of Two-Degree-of-Freedom Voice Coil Actuator Driven by Three-Phase Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 23rd International Conference on the Computation of Electromagnetic Fields     page: PD-P1-11   2022.1

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  48. A Linear Electromagnetic Actuator with Three Holding Points for Gear Shift Unit Reviewed

    Shuto Sakamoto, Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Mineo Kurita

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2193   2021.11

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  49. Analysis of a Magnetic Lead Screw Actuator with Step Skew Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Yuki Anraku

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2194   2021.11

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  50. A Six-Coil Two-Degree-of-Freedom Actuator Driven by Three-Phase Reviewed

    Shunsuke Kuribayashi, Akira Heya, Katsuhiro Hirata, Mineo Kurita

    Proceedings of the 2021 International Conference on Electrical Machines and Systems     page: I5-2196   2021.11

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  51. Three-Degree-of-Freedom Voice Coil Actuator Driven by Four-Phase Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 20th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering     page: S07-31   2021.9

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  52. ローレンツ力を用いた6自由度振動アクチュエータの提案 Reviewed

    部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 3 ) page: 24 - 29   2021.9

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  53. Sensorless attitude estimation of three-degree-of-freedom actuator for image stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    International Journal of Applied Electromagnetics and Mechanics   Vol. 66 ( 2 ) page: 249 - 263   2021.6

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    Space recognition is a crucial issue for autonomous systems such as unmanned aerial vehicles, walking robots, and autonomous cars. These systems are necessary to obtain information using a camera while moving. However, reduction in recognition accuracy and system size increase has created problems. To solve these problems, we proposed the three-degree-of-freedom (DOF) actuator for image stabilization. This paper proposes a novel initial position estimation method and sensorless attitude estimation method for the three-DOF actuator to further downsize and reduce weight. The effectiveness of the proposed methods is verified by a magnetic field analysis, using a three-dimensional finite element method and numerical simulations.

    DOI: 10.3233/jae-201537

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  54. ボイスコイル型多自由度アクチュエータの基礎検討 Reviewed

    部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 395 - 40   2021.6

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  55. 短ストローク6自由度アクチュエータの実験評価 Reviewed

    元辻友彰, 部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 321 - 326   2021.6

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  56. 支持機構の内包による力覚提示デバイス用3自由度振動アクチュエータの基礎検討 Reviewed

    中村亮介, 部矢明, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 2 ) page: 408 - 413   2021.6

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  57. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Integrated with Support Mechanism Reviewed

    Ryosuke Nakamura, Akira Heya, Katsuhiro Hirata

    Proceedings of the 2021 IEEE International Magnetics Conference   ( BD-02 )   2021.4

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  58. Proposal of Novel Multiple-Degree-of-Freedom Voice Coil Actuator Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 2021 IEEE International Magnetics Conference   ( BD-09 )   2021.4

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  59. Structural Simplicity and Performance Comparison of Magnetic Lead Screws without Spiral Permanent Magnets Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    IEEJ Transactions on Electrical and Electronic Engineering   Vol. 16 ( 3 ) page: 464 - 469   2021.3

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    DOI: 10.1002/tee.23317

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  60. 横磁束構造を用いたダブルギャップ型Zθアクチュエータの研究 Reviewed

    森田真仁, 部矢明, 高原一晶, 平田勝弘

    日本AEM学会誌   Vol. 29 ( 1 ) page: 269 - 274   2021.3

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  61. Evaluation of Position Controllability of Triaxial Active Control Magnetic Bearing Using Nonlinear Compensator Reviewed

    Keigo NISHIDE, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 29 ( 1 ) page: 124 - 129   2021

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    DOI: 10.14243/jsaem.29.124

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  62. Analysis of a Motor Integrated Magnetically Levitated Lead Screw Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 18th Biennial IEEE Conference on Electromagnetic Field Computation   ( ID-534 )   2020.11

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  63. Two-Degree-of-Freedom Actuator for Robotic Eyes Reviewed

    Akira Heya, Yoshihiro Nakata, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 24th International Conference on Electrical Machines   ( SD-008435 )   2020.8

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  64. Edge effect of multi-degree-of-freedom oscillatory actuator driven by vector control Reviewed

    Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, Akira Heya

    Open Physics   Vol. 18 ( 1 ) page: 346 - 351   2020.7

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    <title>Abstract</title>This article proposes a thrust equation model of two-degree-of-freedom oscillatory actuator considering its edge effect. The proposed thrust equation model clarifies that asymmetric permanent magnet flux linkage and inductance characteristics cause undesirable magnetic thrust and reluctance thrust, respectively.

    DOI: 10.1515/phys-2020-0169

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  65. Amplitude Control for Linear Resonance Actuator Using Sensorless Load Estimation Method Reviewed

    Tomoaki Mototsuji, Masayuki Kato, Akira Heya, Katsuhiro Hirata

    IEEJ Transactions on Industry Applications   Vol. 140 ( 7 ) page: 534 - 541   2020.7

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    DOI: 10.1541/ieejias.140.534

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  66. Proposal of a Six-Degree-of-Freedom Actuator using Lorentz Force Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 2020 IEEE International Magnetics Conference   ( BD-01 )   2020.5

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  67. Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    Sensors   Vol. 20 ( 9 ) page: 2485 - 2485   2020.4

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    Image deteriorations due to vibrations have become a problem in autonomous systems such as unmanned aerial vehicles, robots, and autonomous cars. To suppress the vibration, a camera stabilizer using a gimbal mechanism is widely used. However, the size and weight of the system increase because the conventional image stabilization systems require some actuators and links to drive in multi-axes. In order to solve these problems, we proposed a novel three-degree-of-freedom (3DOF) electromagnetic actuator for image stabilization. The actuator can be driven by only three-phase and has a simple structure and control system. This paper describes the experimental verification of the proposed actuator. The torque characteristics are clarified, and the analysis and measured torque characteristics are compared to verify the analysis validity. For verifying the dynamic performance, the frequency characteristics are measured. The effectiveness of the proposed magnetic structure and operating principle are investigated.

    DOI: 10.3390/s20092485

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  68. Linear Vernier Actuator with Two Movers Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Transportation Systems and Technology   Vol. 6 ( 1 ) page: 63 - 79   2020.3

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    Background: Linear motion devices for industrial machines and robots are expected to realize their high efficiency drive and simple structure. Usually, a feed screw mechanism composed of a rotary motor and a ball-screw or slide-screw is employed. However, it has some problems such as the decrease of the drive efficiency, flexibility against external forces, noise, etc. Various linear actuators and motors have been developed utilizing the feature of a direct drive.&#x0D;
    Aim: In this paper, we propose a novel linear actuator which 2 movers can be independently controlled using 3-phase and 6-phase superimposed currents for decreasing the size and weight of the system. The proposed linear actuator is driven by the operating principle of a vernier motor which is expected to achieve a high thrust force density per permanent magnet volume.&#x0D;
    Methods: The operating principle and the static thrust force characteristics of the proposed linear actuator are verified by an electromagnetic field analysis using 3-D finite element method, and the back electromotive force characteristics are also analyzed. In addition, the dynamic characteristics under position feedback control are analyzed. The control system uses a vector control using PID controller, and the control input is given by the 3-phase and 6-phase superimposed currents.&#x0D;
    Results: The static force characteristics were investigated. From the analyzed results, the force interference between the two movers was small. Moreover, the interference of the back electromotive force of the 3-phase and 6-phase movers were not observed. The movers could be independently driven under position feedback control using 3-phase and 6-phase superimposed currents. The dynamic characteristics analyses showed that the mover well followed a target position. From a step response, the time constant and the response of the position feedback system were investigated.&#x0D;
    Conclusion: This paper presents a linear vernier actuator with two movers. The basic structure and operating principle of the actuator were described. Moreover, the static characteristics and the dynamic characteristics under position feedback control were analyzed. It was found that the movers can be independently driven.

    DOI: 10.17816/transsyst20206163-79

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  69. Interference suppression of triaxial active control magnetic bearing using nonlinear compensator Reviewed

    Keigo NISHIDE, Akira HEYA, Katsuhiro HIRATA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 28 ( 3 ) page: 219 - 224   2020

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    DOI: 10.14243/jsaem.28.219

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  70. A Magnetically Levitated Lead Screw for Complete Non-Contact Power Transmission Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceeding of the 45th Annual Conference of the IEEE Industrial Electronics Society     page: 682 - 685   2019.10

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    DOI: 10.1109/iecon.2019.8927701

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  71. Experimental Verification of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata

    Proceedings of the 19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering   ( O4-B-5 )   2019.8

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  72. Experimental Verification of a Consequent-Pole Magnetic Lead Screw Reviewed

    Abe Tetsuya, Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547659 )   2019.8

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    DOI: 10.1109/icems.2019.8922479

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  73. Edge Effect of Multi-degree-of-freedom Oscillatory Actuator Driven by Vector Control” Reviewed

    Masayuki Kato, Katsuhiro Hirata, Tomoaki Mototsuji, Akira Heya

    Proceedings of the 19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering     2019.8

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  74. Development of Triaxial Active Control Magnetic Bearing with Asymmetric Structure Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Atsushi Nakajima

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547661 )   2019.8

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  75. Design and Analysis of a Six-Degree-of-Freedom Oscillatory Actuator Reviewed

    Tomoaki Mototsuji, Akira Heya, Katsuhiro Hirata

    Proceedings of the 22th International Conference on Electrical Machines and Systems   ( 1570547877 )   2019.8

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  76. Design and Analysis of a Three-Degree-of-Freedom Linear Oscillatory Actuator Reviewed

    Akira Heya, Katsuhiro Hirata, Takahiro Matsushita, Yoshinori Kono

    Proceedings of the 22nd International Conference on the Computation of Electromagnetic Fields   ( PD-M4-7 )   2019.7

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  77. A Magnetic Lead Screw with Variable Stiffness Mechanism Reviewed

    Akira Heya, Yoshihiro Nakata, Katsuhiro Hirata, Hiroshi Ishiguro

    Proceedings of the 12th International Symposium on Linear Drives for Industry Applications   ( We2.A )   2019.7

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    DOI: 10.1109/ldia.2019.8770992

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  78. Analysis of a Consequent-Pole Magnetic Lead Screw Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Tetsuya Abe, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceeding of the18th Biennial IEEE Conference on Electromagnetic Field Computation   ( WBP3-10 )   2018.10

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  79. Linear Vernier Actuator with Two Movers Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Proceedings of the 24th International Conference on Magnetically Levitated Systems and Linear Drives   - 66   2018.8

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  80. Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator Reviewed

    Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata

    Proceedings of the 2018 IEEE International Magnetics Conference   ( EG-10 )   2018.4

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  81. Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi

    Proceedings of the 2018 IEEE International Magnetics Conference   ( EG-10 )   2018.4

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  82. Dynamic Modeling of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Noboru NIGUCHI, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 26 ( 2 ) page: 280 - 285   2018

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    DOI: 10.14243/jsaem.26.280

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  83. Dynamic Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    IEEE Transactions on Magnetics   Vol. 53 ( 11 ) page: 1 - 4   2017.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmag.2017.2706942

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  84. Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Shota Ezaki, Tomohiro Ota

    IEEE Transactions on Magnetics   Vol. 53 ( 6 ) page: 1 - 4   2017.6

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    DOI: 10.1109/tmag.2017.2664144

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  85. Characteristics Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilizations Reviewed

    Akira Heya, Katsuhiro Hirata, Noboru Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    Proceedings of the 21st International Conference on the Computation of Electromagnetic Fields   ( PB-M2-7 )   2017.6

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  86. Dynamic Analysis of High-Speed Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Niguchi Niguchi, Takamichi Yoshimoto, Tomohiro Ota

    Proceedings of the 2017 IEEE International Magnetics Conference   ( GH-04 )   2017.4

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  87. Proposal of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 25 ( 2 ) page: 273 - 278   2017

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    <p>A lens-unit-swing system is composed of lens and an imaging device for image stabilizations. This system can correct an image from camera shakes over wide rotation ranges around three axes. On the other hand, this system has some problems such as an increase in size and power consumption. Therefore, three-degree-of-freedom actuators are expected to become a solution for these problems. However, it is difficult to incorporate these actuators in the system because the size is large and it has a complicated control system. In order to solve these problems, we propose a new three-degree-of-freedom electromagnetic actuator, which can be controlled by a simple control system. In this paper, the basic structure and operating principle of the actuator are described. Moreover, the modeling method of the actuator is described. In addition, the effectiveness of the actuator is verified through 3-D finite element analysis and numerical simulation.</p>

    DOI: 10.14243/jsaem.25.273

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  88. Position Feedback Control of Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira HEYA, Katsuhiro HIRATA, Takamichi YOSHIMOTO, Tomohiro OTA

    Journal of the Japan Society of Applied Electromagnetics and Mechanics   Vol. 25 ( 2 ) page: 137 - 142   2017

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    <p>Recently, a high-quality image has been obtained by a digital camera because imaging performance was improved. On the other hand, image quality deteriorations due to the vibration has become a problem. In this paper, we propose a three-degree-of-freedom actuator for image stabilizations. The basic structure and operating principle of the actuator are described. Moreover, the dynamic performances under position feedback control are analyzed employing 3-D finite element method and the effectiveness of the actuator is verified.</p>

    DOI: 10.14243/jsaem.25.137

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  89. Dynamic Analysis of a New Three-Degree-of-Freedom Actuator for Image Stabilization Reviewed

    Akira Heya, Katsuhiro Hirata, Shota Ezaki, Tomohiro Ota

    Proceedings of the 17th Biennial IEEE Conference on Electromagnetic Field Computation   ( TP071-6 )   2016.11

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)  

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  90. Development of Instantaneously Puncture System for CT Fluoroscopy-Guided Interventional Radiology Reviewed

    Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

    Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems     page: 2369 - 2374   2016.10

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/IROS.2016.7759369

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    Other Link: https://dblp.uni-trier.de/db/conf/iros/iros2016.html#HeyaKMHG16

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Presentations 14

  1. 粒子法と画像処理を用いた転がり軸受のグリース厚さ評価

    井上祐人,部矢明,井上剛志

    日本機械学会 第21回機素潤滑設計部門講演会  2023.12.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  2. 重力を考慮した遠心振り子動吸振器の制振効果

    周星宇,井上剛志,部矢明

    日本機械学会 東海支部 第72期講演会 TOKAI ENGINEERING COMPLEX 2023  2023.3.8 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  3. ロケット用ターボポンプ状態監視のためのRD係数変化時の振動特性解析

    田中智成,井上剛志,部矢明,川崎聡

    日本機械学会 東海支部 第72期講演会 TOKAI ENGINEERING COMPLEX 2023  2023.3.8 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  4. すべり軸受の摩耗診断のための数理モデル構築とSVMを用いた検証

    後藤正樹,井上剛志,部矢明,片山景市,富松重行,後藤大輝,木村祥吾,薮井将太

    日本機械学会 東海支部 第72期講演会 TOKAI ENGINEERING COMPLEX 2023  2023.3.8 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  5. 3次元力覚提示アクチュエータの開発

    部矢明,中村亮介,平田勝弘

    ロボティクス・メカトロニクス講演会2022 in Sapporo  2022.6.3 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  6. ねじり振動制振用のCPVA形態検討と非線形数値解析

    周星宇,井上剛志,部矢明

    Dynamics and Design Conference 2022  2022.9.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  7. シール部における軸の傾きを考慮した隙間流れと軸振動の双方向連成解析

    木村祥吾,井上剛志,田浦裕生,部矢明

    第87回ターボ機械協会(京都)講演会  2022.9.22 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  8. ロケット用液体水素ターボポンプのための渦電流ダンパの基礎検討

    梅川侑大,部矢明,井上剛志

    第87回ターボ機械協会(京都)講演会  2022.9.22 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  9. 3軸一体能動制御型磁気軸受の可変構造型非線形外乱制御系の提案

    丸山羽衣,部矢明,平田勝弘

    第31回MAGDAコンファレンスin鹿児島  2022.11.2 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  10. 深層強化学習を用いた球面アクチュエータ3自由度姿勢制御のための報酬関数の検討

    正力一樹,部矢明,平田勝弘

    第31回MAGDAコンファレンスin鹿児島  2022.11.2 

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    Language:Japanese   Presentation type:Oral presentation (general)  

  11. ロケット用液体水素水素ターボポンプのための多自由度渦電流ダンパの基礎検討

    梅川侑大,部矢明,井上剛志

    第31回MAGDAコンファレンスin鹿児島  2022.11.2 

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  12. 扁平構造を有する3次元力覚提示アクチュエータの実機検証

    山本翔大,部矢明,平田勝弘

    第31回MAGDAコンファレンスin鹿児島  2022.11.2 

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  13. 4相駆動3自由度球面アクチュエータの特性検証

    玉置悠祐,部矢明,井上剛志

    第31回MAGDAコンファレンスin鹿児島  2022.11.2 

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  14. 深層強化学習による球面アクチュエータのトルクマップパラメータ同定と姿勢制御

    澤拓真,正力一樹,部矢明,平田勝弘,新口昇

    令和5年電気学会全国大会  2023.3.17 

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Research Project for Joint Research, Competitive Funding, etc. 12

  1. MRI・CT画像下治療のための多自由度空圧ステッピングモータの開発

    2024.4 - 2025.3

    2024年度研究助成(A)

    部矢明

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    Authorship:Principal investigator 

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  2. 高加速・高精度2自由度球面ボイスコイルモータの開発

    2024.2 - 2025.3

    パワーアカデミー研究助成 萌芽研究(個人型)

    部矢明

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    Authorship:Principal investigator 

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  3. 超小型3次元力覚提示アクチュエータの研究開発

    2023.10 - 2024.9

    研究助成2023

    部矢明

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    Authorship:Principal investigator 

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  4. ロケットエンジンターボポンプ開発に資する非定常流体連成マルチボディ解析法の開発

    Grant number:23H01368  2023.4 - 2027.3

    科学研究費助成事業  基盤研究(B)

    井上 剛志, 内海 政春, 堀口 祐憲, 川崎 聡, 安達 和彦, 神谷 恵輔, 高木 賢太郎, 部矢 明

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    Authorship:Coinvestigator(s) 

    Grant amount:\18460000 ( Direct Cost: \14200000 、 Indirect Cost:\4260000 )

    ロケットエンジンのターボポンプには作動流体の過酷な供給性能要求が課せられる.そして,それに付随した軸振動が頻繁に問題となる.H2ロケットのLE-7エンジン開発時にはこの軸振動克服に多大な労力を要し,LE-7Aエンジンでも信頼性向上への主要課題であり続けた.さらに,H3ロケットのLE-9エンジン開発でも流体力と振動の連成問題に起因した課題に直面し続けた.一方,これらの要求達成に必須なターボポンプの実フライト時の振動特性の解析技術は,世界的にもまだ十分に開発されていない.本研究では「ロケットターボポンプの実フライト状況下の非定常振動特性を流体力連成で高速に評価・予測し得る解析技術の開発」を行う.

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  5. 超小型3次元力覚提示アクチュエータの研究開発

    2022.10 - 2023.9

    研究助成2022 

    部矢 明

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    Authorship:Principal investigator 

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  6. 空電ハイブリッド多自由度アクチュエータによる高出力柔軟マニピュレータの実現

    Grant number:22K14223  2022.4 - 2025.3

    科学研究費助成事業 若手研究  若手研究

    部矢 明

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    Authorship:Principal investigator 

    Grant amount:\4680000 ( Direct Cost: \3600000 、 Indirect Cost:\1080000 )

    人のいる環境で組立等の作業を行う協働ロボットの駆動機構には,作業遂行のための高出力・高精度な動作と安全な接触のための柔軟性が求められる。しかし,既存の多自由度機構は多数のモータ・減速機を組み合わせて構成されるため,各モータの制御誤差と機械要素の機械的誤差が累積し,精度低下を招くとともに接触剛性が高く柔軟性に欠ける。そこで本研究では,出力密度が高く空気粘弾性による柔軟性を持った空圧力駆動と俊敏かつ高精度な電磁力駆動のハイブリッド化により,高出力・高精度かつ柔軟動作が可能なな新しい多自由度アクチュエータを開発する。そして,提案アクチュエータを組み合わせた高出力柔軟マニピュレータを実現する。

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  7. ロケットエンジン用液体水素ターボポンプのための多自由度渦電流ダンパの開発

    2022.4 - 2024.3

    特別研究助成 

    部矢 明

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    Authorship:Principal investigator 

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  8. 空圧駆動多自由度アクチュエータの開発

    2022.4 - 2023.3

    研究助成 

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    Authorship:Principal investigator  Grant type:Competitive

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  9. 汎用ドライバで駆動可能な3自由度球面アクチュエータの開発

    2022.3 - 2024.2

    研究助成 

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    Authorship:Principal investigator  Grant type:Competitive

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  10. 超小型3次元力覚提示アクチュエータの研究開発

    2021.10 - 2022.9

    研究助成2021 

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

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  11. 多自由度アクチュエータを用いた眼球マスタスレーブシステムによる遠隔操作の高度化

    Grant number:21K20404  2021.8 - 2023.3

    科学研究費助成事業 研究活動スタート支援  研究活動スタート支援

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\3120000 ( Direct Cost: \2400000 、 Indirect Cost:\720000 )

    ロボットの遠隔操作による協働作業において視覚情報は必要不可欠であり,精確かつ緻密な作業を実行するためには,未知環境の遠隔地でも高い空間認識能力が必要となる。しかし,既存のロボットの立体視システムでは互いに固定された2眼カメラを用いるため,空間認識範囲が狭く,奥行き方向の空間分解能を高めることが困難である。そこで,人が2つの眼球を相対運動させることで認識範囲を拡大し,奥行き方向に高い空間分解能を実現していることに着目した。本研究では,1台で2自由度駆動を生成する眼球アクチュエータを用いた2眼駆動機構を開発し,人とロボットの眼球の協調動作を実現するマスタスレーブ系による視覚システムを構築する。

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  12. 人のような空間認識能力を持つ多自由度アクチュエータ駆動二眼カメラシステムの開発

    Grant number:18J20150  2018.4 - 2021.3

    科学研究費助成事業 特別研究員奨励費  特別研究員奨励費

    部矢 明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\2800000 ( Direct Cost: \2800000 )

    本研究では,人の眼球と同程度のサイズで人のように高い運動性能を持つ二眼ロボット眼球システムの構築を目的としている。従来のロボット眼球はシリアルリンク機構もしくはパラレルリンク機構を用いて多自由度運動を実現している。しかし,複数のモータとリンクを用いて駆動するため,大型化と重量の増加が課題となる。そこで,一台で多自由度駆動可能な多自由度アクチュエータに着目した。
    従来の多自由度アクチュエータはロボット関節への適用を目的として,高トルク密度化を図るために複雑な構造を有し,大型な制御装置が必要であった。本研究では,それらの課題を解決する多自由度アクチュエータを提案し,試作機による実機検証を行ってきた。昨年度においては,開発した試作機から課題を抽出し,更なる小型化が可能な新しい多自由度アクチュエータを提案した。従来の多自由度アクチュエータは1自由度の駆動に対して2個以上のコイルを用いていた。提案アクチュエータでは,1自由度に対して1個のコイルのみで駆動可能とすることで,最小構成で駆動可能な多自由度アクチュエータを実現した。

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KAKENHI (Grants-in-Aid for Scientific Research) 4

  1. ロケットエンジンターボポンプ開発に資する非定常流体連成マルチボディ解析法の開発

    Grant number:23H01368  2023.4 - 2027.3

    科学研究費助成事業  基盤研究(B)

    井上 剛志, 内海 政春, 堀口 祐憲, 川崎 聡, 安達 和彦, 神谷 恵輔, 高木 賢太郎, 部矢 明

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    Authorship:Coinvestigator(s) 

    ロケットエンジンのターボポンプには作動流体の過酷な供給性能要求が課せられる.そして,それに付随した軸振動が頻繁に問題となる.H2ロケットのLE-7エンジン開発時にはこの軸振動克服に多大な労力を要し,LE-7Aエンジンでも信頼性向上への主要課題であり続けた.さらに,H3ロケットのLE-9エンジン開発でも流体力と振動の連成問題に起因した課題に直面し続けた.一方,これらの要求達成に必須なターボポンプの実フライト時の振動特性の解析技術は,世界的にもまだ十分に開発されていない.本研究では「ロケットターボポンプの実フライト状況下の非定常振動特性を流体力連成で高速に評価・予測し得る解析技術の開発」を行う.

  2. 空電ハイブリッド多自由度アクチュエータによる高出力柔軟マニピュレータの実現

    Grant number:22K14223  2022.4

    若手研究

    部矢明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4680000 ( Direct Cost: \3600000 、 Indirect Cost:\1080000 )

  3. 多自由度アクチュエータを用いた眼球マスタスレーブシステムによる遠隔操作の高度化

    Grant number:21K20404  2021.8 - 2023.3

    研究活動スタート支援

    部矢明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\3120000 ( Direct Cost: \2400000 、 Indirect Cost:\720000 )

  4. 人のような空間認識能力を持つ多自由度アクチュエータ駆動二眼カメラシステムの開発

    Grant number:18J20150  2018.4 - 2021.3

    特別研究員奨励費

    部矢明

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\2800000 ( Direct Cost: \2800000 )

Industrial property rights 9

  1. 回転機構

    部矢明, 井上剛志, 森田希

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    Application no:特願2024-027735  Date applied:2024.2

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  2. 磁気軸受装置

    部矢明, 井上剛志, 鮎澤颯, 天沼光博, 藤橋達郎, 鈴木滉司

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    Application no:特願2023-197192  Date applied:2023.11

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  3. 空圧多自由度アクチュエータ

    部矢明, 大竹陸郎, 井上剛志, 仲田佳弘

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    Application no:特願2023-134990  Date applied:2023.8

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  4. 空電多自由度アクチュエータ

    部矢明, 大竹陸郎, 井上剛志, 仲田佳弘, 瀧恵太, 平田勝弘

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    Application no:特願2023-134995  Date applied:2023.8

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  5. ボールバランサ

    部矢明, 井上剛志, 福田駿也

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    Application no:特願2023-079683  Date applied:2023.5

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  6. 力覚提示アクチュエータ

    部矢明, 井上剛志, 檀佑次郎

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    Application no:特願2023-079684  Date applied:2023.5

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  7. 回転機用ダンパおよびそれを備える回転機

    部矢明, 井上剛志, 梅川侑大

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    Application no:特願2023-043537  Date applied:2023.3

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  8. 回転機用ダンパおよびそれを備える回転機

    部矢明,井上剛志,梅川侑大

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    Applicant:部矢明,井上剛志,梅川侑大

    Application no:2023-043537  Date applied:2023.3

  9. 磁気式動力伝達構造体

    仲田佳弘, 石黒浩, 平田勝弘, 酒井昌彦, 部矢明, 阿部哲也

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    Application no:特願2018-202245  Date applied:2018.10

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Teaching Experience (Off-campus) 4

  1. Vibration Engineering 1 with Exercises

    2023.4 Nagoya University)

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  2. Advanced Lectures on Mechanical System Dynamics

    2023.4 Nagoya University)

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  3. Vibration Engineering 2 with Exercises

    2022.4 Nagoya University)

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  4. Exp. and Workshop Practice in Mech. and Aerospace Eng. 1

    2022.4 Nagoya University)

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