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西田 勇大学院工学研究科 機械工学専攻准教授
研究活動情報
■ 受賞- 2022年11月 The 19th International Machine Tool Engineers’ Conference IMEC2022 Excellent Poster Award
- 2020年12月 一般財団法人FA財団論文賞
- 2020年07月 ASME International Symposium on Flexible Automation 2020, ASME International Symposium on Flexible Automation 2020 Young Investigator Award in Flexible Automation
- 2020年03月 一般社団法人日本機械学会, 一般社団法人日本機械学会生産システム部門学術業績賞
- 2020年03月 公益社団法人精密工学会, 公益社団法人精密工学会研究奨励賞
- 2019年06月 一般社団法人型技術協会, 一般社団法人型技術協会奨励賞, NCプログラムの自動生成と加工時間予測で実現する製品形状に応じた工作機械の割当て日本国国内学会・会議・シンポジウム等の賞
- 2019年05月 公益財団法人マザック財団, 公益財団法人マザック財団優秀論文賞, Automatic Determination of Cutting Conditions for NC Program Generation by Reusing Machining Case Data based on Geometric Properties of Removal Volume日本国その他の賞
- 2019年04月 日本機械学会, 日本機械学会賞（論文）, 切削加工のボクセルシミュレータを用いた工作機械の動的挙動と切削力の時間領域連成シミュレーション日本国学会誌・学術雑誌による顕彰
- 2018年05月 公益財団法人マザック財団, 公益財団法人マザック財団優秀論文賞, ボクセルモデルを用いた切削シミュレーションにおける微小時間および微小空間解析の高速処理手法日本国その他の賞
- 2016年09月 日本機械学会 RC272, 日本機械学会RC272産学連携による若手育成プログラムCIA4YI2016 最優秀賞, 産学連携による若手育成プログラムCIA4YI2016その他の賞
- 2012年06月 日本人間工学会, 2011年度日本人間工学会研究奨励賞, 拮抗筋および二関節筋を考慮した下肢筋力の推定手法 －垂直跳びにおける下肢筋力の推定－日本国学会誌・学術雑誌による顕彰
- 2010年03月 日本機械学会, 2009年度日本機械学会三浦賞, 二関節筋を考慮した筋骨格モデルを用いた人体の運動解析に関する研究日本国その他の賞
- Japan Society of Mechanical Engineers, 2024年02月, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 18(4) (4), JAMDSM0039 - JAMDSM0039研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2024年, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 18(4) (4), JAMDSM0037 - JAMDSM0037研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2024年, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 18(4) (4), JAMDSM0038 - JAMDSM0038研究論文（学術雑誌）
- In this study, we developed a method for automatically generating computer-aided design (CAD) models of injection molding dies. The method only required 3D CAD models of products in the Standard Triangulated Language (STL) format as the input information. We also developed a system for automatically generating numerical control (NC) programs by automating the system process planning necessary for machining the injection molding dies. The method generated CAD models of the injection molding dies by dividing the STL files of the products into triangular meshes on a specified split plane. For injection molding dies with several free curved surfaces, we acquired the tool positions of a ball end mill (as approximated by a spherical shape) and flat drill (as approximated by a cylindrical shape) from the geometrical relationships of the triangles constituting the CAD model. We generated a CAD model of an injection molding die using the proposed method with respect to the CAD model of a product shape to verify the validity of the developed system. Then, we machined the product based on the NC programs and tool position. In addition, we injection molded a product with a machined die to mold it into its original product shape.Fuji Technology Press Ltd., 2023年11月, International Journal of Automation Technology, 17(6) (6), 619 - 626, 英語[査読有り]研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2023年05月, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 17(3) (3), JAMDSM0035 - JAMDSM0035, 英語[査読有り]研究論文（学術雑誌）
- This study proposes a method for automating the determination of assembly order by automating the derivation of the necessary connection relationships between the parts. The proposed method minimizes the information required for the initial conditions and automatically determines the feasible assembly orders. As a general rule, based on the assumption that the assembly order for a product is the reverse of the disassembly order, once the disassembly order is derived based on the 3D CAD model and the connection relationships between the parts, the assembly order can be determined. Until now, however, the relationships between the parts are decided manually by the attendant engineers, thus, hindering the full automation of the determination of the assembly order. To achieve full automation realistically, the connection relationships between the parts should be derived automatically from the 3D CAD model, for which this study proposes an efficient method. The components were extracted from the 3D CAD model, and the bolts were identified. The connection relationships between the parts were derived from the interference conditions determined while moving each part minutely. An association chart diagram was created from the obtained connection relationships, from which multiple assembly order candidates could be derived.Fuji Technology Press Ltd., 2023年03月, International Journal of Automation Technology, 17(2) (2), 167 - 175[査読有り]研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2023年, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 17(2) (2), JAMDSM0025 - JAMDSM0025研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2022年, 日本機械学会論文集, 88(914) (914), 22 - 00208[査読有り]研究論文（学術雑誌）
- A method for extracting the machining region from a 3D CAD model in Standard Triangulated Language (STL) format and automatically generating a tool path is proposed. First, a method is proposed for extracting the machining region and obtaining the geometrical features such as a convex or concave shape from only the 3D CAD model in STL format. The STL format uses only triangular mesh data and drops all information, which is necessary for extracting the removal volume for the machining and geometrical characteristics. Furthermore, the triangular mesh size is non-uniform. A contour line model is proposed in which the product model is minutely divided on the plane along any one axial direction and is represented by points at intervals below the indicated resolution obtained from the contour line of the cross section of the product. Subsequently, a method is proposed to determine the machining conditions for each extracted machining region and automatically generate a tool path according to the geometrical features of the machining region obtained. A machining experiment was conducted to validate the effectiveness of the proposed method. As a result of the machining experiment, it was confirmed that the tool path automatically generated from the 3D CAD model in STL format can be machined without any problems and with a practical level of accuracy.Fuji Technology Press Ltd., 2021年03月, International Journal of Automation Technology, 15(2) (2), 149 - 157[査読有り]研究論文（学術雑誌）
- A method to extract the machining region from 3D CAD model in STL (Standard Triangulated Language) format and automatically generate tool path is proposed. At first, this study proposes a method to extract the machining region and obtain the geometrical feature such as convex shape or concave shape from only the 3D CAD model in STL format. The STL format has only triangular mesh data and drops all the information which is necessary to extract the removal volume for machining and the geometrical characteristics. Furthermore, the triangular mesh size is non-uniform. Then, the contour line model, in which the product model is minutely divided on the plane along any one axial direction and represented by points at intervals below the indicated resolution obtained from the contour line of the cross section of the product, is proposed. Subsequently, this study proposes a method to determine the machining conditions for each extracted machining region and automatically generate tool path according to the obtained geometrical feature of the machining region.American Society of Mechanical Engineers, 2021年, Proceedings of the ASME 2021 16th International Manufacturing Science and Engineering Conference, MSEC 2021, 1, 英語研究論文（国際会議プロシーディングス）
- Japan Society of Mechanical Engineers, 2021年, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 15(6) (6), JAMDSM0077 - JAMDSM0077[査読有り]研究論文（学術雑誌）
- A method to calculate tool path uniquely for roughing using a flat drill is proposed. A flat drill is a drill with a flat tip. Unlike a square end mill, it cannot feed a tool laterally, but it is suitable for machining to feed a tool longitudinally. The advantage offered by the flat drill is expected to reduce machining troubles, such as tool breakages and chatter vibration, owing to the axial sturdiness of the tool. Furthermore, it can be used to machine lapped holes that cannot be machined with a normal drill owing to its flat tip. Hence, roughing using a flat drill by drilling multiple holes at constant intervals is proposed herein. Furthermore, in this method, a tool path for semi-finishing is generated only on the remaining region. A cutting experiment is conducted to validate the effectiveness of the proposed method. The result of the cutting experiment confirmed the effectiveness of the proposed method based on the machining time and the productivity of machining multiple products simultaneously.Fuji Technology Press Ltd., 2020年11月, International Journal of Automation Technology, 14(6) (6), 1036 - 1044[査読有り]研究論文（学術雑誌）
- Japan Society for Precision Engineering, 2020年09月, Journal of the Japan Society for Precision Engineering, 86(9) (9), 708 - 713[査読有り]研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2020年07月, Transactions of the JSME (in Japanese), 86(887) (887), 20 - 00153[査読有り]研究論文（学術雑誌）
- 2020年06月, International Journal of Automation Technology, 14(3) (3), 459 - 466, 英語Machining time reduction by tool path modification to eliminate air cutting motion for end milling operation[査読有り]研究論文（学術雑誌）
- It is expected that the vibration characteristics of NC machine tools are affected by the contact between the tool and the workpiece during the cutting operations. However, the influences of the contact have not been clarified up to now. In this study, a method to evaluate the contacting effect and evaluated results are described. Frequency response of a vertical type milling machine during cutting operation is evaluated in this study. The evaluation tests of the contacting effect are carried out with and without cutting operations. In order to clearly evaluate the influence of the contact between a tool edge and a workpiece, boring operations of 50 mm diameter are carried out. The frequency responses are measured by using feed motor torque. Impulse signal is applied to the motor torque command during the cutting operations to oscillate the machine tool, and the axial acceleration of the table is measured to obtain the frequency responses. The impulse signal can be applied by refereeing the spindle rotational angle to control the relationships between the cutting edge and workpiece surface. As the results of the evaluations, it is clarified that the proposed method can evaluate the influence of the contact adequately. The natural frequency slightly increases and the vibration amplitude decreases when the tool contacts with the workpiece, regardless of whether non-cutting or cutting. It has also been confirmed that the vibration amplitude of the frequency characteristics is changed due to the contact length and the relative direction of the cutting edge.American Society of Mechanical Engineers, 2020年, JSME 2020 Conference on Leading Edge Manufacturing/Materials and Processing, LEMP 2020, 英語研究論文（国際会議プロシーディングス）
- Several methods have been proposed to detect tool wear in milling operation using AE (Acoustic Emission) signals or cutting force signals. However, these methods require additional sensors such as an AE sensor or a dynamometer, which incurs additional costs. For this reason, a simple tool life estimation method based on machining time is used. In this study, a sensor-less tool wear estimation method is proposed. In this method, the parameters required for the cutting force prediction are identified continuously from the spindle motor torque signal, which can be monitored within the computer numerical controlled (CNC) machine. The tool wear progress can be estimated by the continuous change in the identified parameters during milling operation. To identify the parameters continuously, a real-time virtual milling simulation is performed in parallel with a physical milling operation. In the experimental results, it was confirmed that the identified parameter corresponding to the edge force component has linear relationship with the flank wear width of cutting edge. Thus the flank wear can be estimated without any additional sensor.American Society of Mechanical Engineers, 2020年, JSME 2020 Conference on Leading Edge Manufacturing/Materials and Processing, LEMP 2020, 英語研究論文（国際会議プロシーディングス）
- A method to automatically calculate tool paths and apply to machining from near net shape material is proposed. At first, this study proposes a contour line model, in which the product model is minutely divided on the plane along any one axial direction and the contour lines to show the cross section of the product is superimposed. Subsequently, this study proposes a method to calculate the tool positions according to the interference amount between product surface and tool. Furthermore, this study proposes the method to calculate tool paths for near net shape material. The case study was conducted to validate the effectiveness of the proposed method. As the result of this case study, it was confirmed that the proposed method can automatically generate the tool paths for near net shape. The machining efficiency from near net shape material will be better than that from box shape material. The results showed that the proposed method has good potential to perform customized manufacturing, and realize both high productivity and reliability in machining operation.American Society of Mechanical Engineers (ASME), 2020年, 2020 International Symposium on Flexible Automation, ISFA 2020, 英語研究論文（国際会議プロシーディングス）
- Japan Society of Mechanical Engineers, 2020年, Transactions of the JSME (in Japanese), 86(892) (892), 20 - 00185研究論文（学術雑誌）
- Japan Society of Mechanical Engineers, 2020年, Mechanical Engineering Journal, 7(3) (3), 20 - 00023, 英語[査読有り]研究論文（学術雑誌）
- © 2019 Elsevier Inc. A higher machining ability is always required for NC machine tools to achieve higher productivity. The self-oscillated vibration called “chatter” is a well-known and significant problem that increases the metal removal rate. The generation process of the chatter vibration can be described as a relationship between cutting force and machine tool dynamics. The characteristics of machine tool feed drives are influenced by the nonlinear friction characteristics of the linear guides. Hence, the nonlinear friction characteristics are expected to affect the machining ability of machines. The influence of the contact between the cutting edge and the workpiece (i.e., process damping) on to the machining ability has also been investigated. This study tries to clarify the influence of the nonlinear friction characteristics of linear guides and ball screws and process damping onto milling operations. A vertical-type machining center is modeled by a multi-body dynamics model with nonlinear friction models. The influence of process damping onto the machine tool dynamics is modeled as stiffness and damping between the tool and the workpiece based on the evaluated frequency response during the milling operation. A time domain-coupled simulation approach between the machine tool behavior and the cutting forces is performed by using the machine tool dynamics model. The simulation results confirm that the nonlinear frictions influence the cutting forces with an effect to suppress the chatter vibration. Furthermore, the influence of process damping can be evaluated by the proposed measurement method and estimated by a time domain simulation.2020年01月, Precision Engineering, 61, 103 - 109[査読有り]研究論文（学術雑誌）
- 2020年01月, International Journal of Automation Technology, 14(1) (1), 英語Proposal of contour line model for high-speed end milling simulation[査読有り]研究論文（学術雑誌）
- 2019年09月, International Journal of Automation Technology, 13(5) (5), 700 - 707, 英語Machine tool assignment realized by automated NC program generation and machining time prediction[査読有り]研究論文（学術雑誌）
- 2019年08月, International Journal of Automation Technology, 13(6) (6), 825 - 833, 英語Automated process planning system for end-milling operation considering geometric dimensioning and tolerancing (GD&T)[査読有り]研究論文（学術雑誌）
- 2019年06月, Mechanical Engineering Journal, 6(4) (4), 英語[査読有り]研究論文（学術雑誌）
- 2019年02月, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 13(1) (1), 英語[査読有り]研究論文（学術雑誌）
- Conventional musculoskeletal model often uses the optimization method to estimate muscle forces. However, the optimization method unfortunately does not usually consider the role of antagonistic muscles, which act in opposite direction to the prime motion or for restriction of rotational joint motion. Therefore, this study proposes a new method to estimate muscle forces considering the role of the antagonistic muscle during 3-dimensional motion. In this model, it is assumed that the agonist muscle is connected to the antagonistic muscle by a coupled spring. Joint torque is defined as the summation of the torques derived from the agonist muscles and the torques derived from the antagonistic muscles. Each muscle force can be estimated to keep balance among the torques generated by the agonist muscles and the antagonistic muscles respectively. The experiments were conducted to validate the proposed method to estimate muscle forces. Surface electromyograms (sEMG) were measured to compare with the estimated muscle forces. The experimental results showed that the estimated muscle forces had a good agreement with the sEMG of muscles.Springer Verlag, 2019年, Advances in Intelligent Systems and Computing, 780, 472 - 482, 英語研究論文（国際会議プロシーディングス）
- © 2019 ASME. On-machine measurement (OMM) is introducing to Numerical Control (NC) machine tools. By the OMM, a workpiece is measured on the machine tool (i.e., without loading and unloading), so OMM can reduce the setup time and positioning error for reloading a workpiece. OMM is used for the process control during machining because it is still difficult to suppress the machining error caused by the cutting process such as the tool deflection, the tool wear and the heat deformation during machining. There are several approaches to on-machine measurement, including non-contact measurements using a laser displacement sensor or imaging equipment and contact measurements using a touch probe. However, to conduct OMM with a touch probe it is necessary to generate an NC program by operators. Moreover, for the process control and monitoring, the information of machining process should be considered in the measuring plan. For process control, measurement of a region that affects machining in the next process should be conducted during the machining process (i.e., after the machining of that region). Furthermore, when some machining abnormality that affects product quality occurs during the machining process, the abnormality should be detected and measured at an early stage to avoid unnecessary machining. This study aims to realize the automation of planning for onmachine measurement, where measurement is conducted at the necessary time during the machining process based on process planning for the early detection of machining abnormality. Furthermore, when a machining abnormality is detected based on the measurement results, the proposed system automatically judges whether to stop machining or to re-machine the affected region.2019年, ASME 2019 14th International Manufacturing Science and Engineering Conference, MSEC 2019, 2[査読有り]研究論文（国際会議プロシーディングス）
- 一般社団法人 システム制御情報学会, 2019年, システム制御情報学会論文誌, 32(5) (5), 212 - 217, 日本語
According to the change of manufacturing style from mass production to customized production, it is important to manage the process plan and to control the machining quality of products. On machine measurement (OMM) has an advantage that it eliminates the operations of remove and reattachment of the workpiece and eliminates the positioning error at the reattachment. The contact measurement using a touch probe is one of the OMM. However, this measurement requires decision of measuring points and paths in order to conduct the measurement using touch probe. Currently, measuring paths of the touch probe is generated by an operator who can recognize the shape of the workpiece, determine the measuring regions and the measuring points. The objective of this study is automatically generation of the NC program to instruct OMM using a touch probe. This study realizes automatically generation of the NC program to instruct OMM by focusing on recognition of the geometrical property of the product shape based on the removal volume and determination of the measuring points and paths.
[査読有り] - 公益社団法人 精密工学会, 2019年, 精密工学会学術講演会講演論文集, 2019(0) (0), 191 - 192, 日本語
スクエアエンドミル加工の実験から，工具刃先に作用する切削エネルギの累積値と工具逃げ面の摩耗量との間に線形関係があることが明らかとなった。この関係を利用して，切削シミュレーションを行って切削エネルギの累積値を計算することで，加工中の切削状態の変化に依らず工具摩耗量の予測が可能であることを示す。また，実加工において測定した摩耗量の変化と予測した摩耗量の変化とを比較することで本手法の有効性を確認した。
[査読有り] - 公益社団法人 精密工学会, 2019年, 精密工学会学術講演会講演論文集, 2019(0) (0), 719 - 720, 日本語
グラインダ作業は熟練作業者の経験や勘に頼る加工工程で，加工条件と加工形状の関係が不明で自動化が難しい作業である．本研究では産業用ロボットによるグラインダ作業の自動化を目的として，グラインダの送り速度，押し付け力といった作業動作から加工形状を予測するシミュレータを開発した．シミュレータはPrestonの法則を用いて局所的な除去体積を計算しており，加工形状の予測結果が測定結果と一致することを確認した．
[査読有り] - © 2019 The Japan Society of Mechanical Engineers To improve machining efficiency, it is necessary to know the machining status and optimize cutting conditions. Cutting force prediction is one method of determining the machining status. The instantaneous rigid force model is widely used and can be easily applied to cutting force prediction. However, this model requires six parameters called cutting coefficients, which have to be determined in advance through a preliminary experimental cutting test. Therefore, in this study, a new cutting force prediction method that does not require a cutting test is proposed to enable the practical understanding of the milling process in a factory setting. For this purpose, the conventional instantaneous rigid force model was revised based on the oblique cutting model and the orthogonal cutting theory to reduce the number of cutting parameters required for cutting force prediction. In the proposed model, only the shear angle is required for cutting force prediction. In practical situations, the shear angle can be identified immediately from the measured spindle motor torque, which can be monitored without any additional sensors at the start of milling operation, and the milling forces can then be predicted. In the proposed force model, the effect of tool runout can be expressed by considering the rotational radius deviation at each cutting edge. In addition, tool chipping can be detected by comparing the monitored and predicted torques. To validate the effectiveness of the proposed model, cutting experiments were conducted. The predicted force showed good agreement with the measured one. The similarity between the monitored and predicted torques was decreased by tool chipping. These results indicate that the in-process machining status can be understood and tool chipping can be detected practically without any experimental milling to determine the required parameters for prediction or any additional force sensors.2019年, Journal of Advanced Mechanical Design, Systems and Manufacturing, 13(3) (3), 英語[査読有り]研究論文（学術雑誌）
- © 2019, Fuji Technology Press. All rights reserved. As the motion accuracy of 5-axis machining centers directly influences the geometrical shape accuracy of the machined workpieces, accuracy enhancement of the 5-axis machining centers is strongly needed. To improve the shape accuracy during the machining by a 5-axis machine tool, a method that modifies the CL-data based on the motion trajectory errors normal to the machined surface at each command point has been proposed. In this study, the proposed method is applied to simultaneous 5-axis controlled machining to improve motion accuracy. A normal vector calculation method for the simultaneous 5-axis controlledmotion is newly proposed, and the compensation method is applied to turbine blade machining by 5-axis controlled motion. Measurement tests of the cutting motion for blade shape machining by a ball-end mill were carried out with a different control mode of NC. The CL-data for the machining tool path was also modified based on the calculated trajectory of the tool center point. Experimental results reveal that the feed speed and machining accuracy significantly depend on the control mode of NC, and that the shape accuracy can be improved by applying the proposed compensation method without any decrease in motion speed.2019年, International Journal of Automation Technology, 13(5) (5), 583 - 592[査読有り]研究論文（学術雑誌）
- 2019年01月, 精密工学会誌, 85(1) (1), 91 - 97, 日本語工具系の弾性変形に起因する加工誤差の予測結果に基づく加工誤差補正[査読有り]研究論文（学術雑誌）
- 2019年01月, Mechanical Engineering Journal, 6(1) (1), 英語[査読有り]研究論文（学術雑誌）
- 2018年12月, International Journal of Automation Technology, 12(6) (6), 英語Customized End Milling Operation of Dental Artificial Crown without CAM Operation[査読有り]研究論文（学術雑誌）
- 2018年07月, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 12(4) (4), 英語[査読有り]研究論文（学術雑誌）
- 2018年02月, 精密工学会誌, 84(6) (6), 572 - 577, 日本語工具系の弾性変形を考慮したボクセルモデルによるエンドミル加工シミュレーション[査読有り]研究論文（学術雑誌）
- 2018年02月, 精密工学会誌, 84(2) (2), 日本語ボクセルモデルを用いた切削シミュレーションにおける微小時間および微小空間解析の高速処理手法[査読有り]研究論文（学術雑誌）
- © 2018 Japan Society for Precision Engineering. All rights reserved. In order to improve machining efficiency, it is required to recognize machining status and optimize cutting conditions. This study develops a newly cutting simulator for end-milling operation, which considers the elastic deflection of tool system. This simulator is based on an instantaneous rigid force model. The uncut chip thickness, which is required to estimate cutting force, is calculated under the consideration of the elastic deflection of the tool system, which corresponds to tool and tool holder deflections caused by cutting force. The newly developed end-milling simulator represents work material by voxel model and calculates the uncut chip thickness from the removed voxels, which are penetrated by tool cutting edges. In our previous study, the uncut chip thickness is calculated from voxels removed by each minute tool rotational angle, and the instantaneous cutting force in a minute time interval can be estimated. Therefore, this study proposes a method to consider the elastic deflection of the tool system caused by the estimated instantaneous cutting force. This study considers the elastic deflection of the tool system, which consists of the tool deflection, the displacement between the tool and the tool holder parallel to the tool axis, the displacement between the tool holder and the spindle parallel to the spindle axis, and the rotational displacement at the tool holding part. The actual uncut chip thickness affected by the elastic deflection of the tool system has to be calculated to estimate the actual cutting force for each minute time. In order to validate the effectiveness of the proposed algorithm, the experimental 3-axis milling operations were conducted. It was confirmed that the predicted cross-sectional shape of the machined surface had good agreement with the measured one.2018年, Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 84(6) (6), 572 - 577[査読有り]研究論文（学術雑誌）
- © Copyright 2018 ASME. Motion accuracy of NC machine tools is directory copied onto the machined shape. However, it is known that the motion accuracy is deteriorated by several error courses; geometric and dynamic motion errors of feed axes. In this study, in order to enhance the motion accuracy of NC machine tools, a method that modifies the NC program based on the normal direction error at each command point on the designed path is developed. In the method, the error vector between the commanded and estimated machined shape is obtained. The NC program for the motion is modified by adding the obtained error vector with the opposite sign. In order to confirm the effectiveness of the proposed method, 5-axis motion tests for cone-frustum cutting which is widely applied to the accuracy evaluation of 5-axis machining centers are carried out. At the first, it is confirmed that the proposed method can compensate the dynamic synchronous errors based on the feedback positions and angles of the axes. In addition, it is also confirmed that the proposed method can compensate both of dynamic and geometric errors based on the tool center point trajectory measured by a ball-bar system. As the results, it is clarified that the proposed method can effectively enhance the motion accuracy of the 5-axis machining center.2018年, ASME 2018 13th International Manufacturing Science and Engineering Conference, MSEC 2018, 4[査読有り]研究論文（国際会議プロシーディングス）
- © Copyright 2018 ASME. A new method, which accurately predicts cutting force in ball end milling considering cutting edge around center web, has been proposed. The new method accurately calculates the uncut chip thickness, which is required to estimate the cutting force by the instantaneous rigid force model. In the instantaneous rigid force model, the uncut chip thickness is generally calculated on the cutting edge in each minute disk element piled up along the tool axis. However, the orientation of tool cutting edge of ball end mill is different from that of square end mill. Therefore, for the ball end mill, the uncut chip thickness cannot be calculated accurately in the minute disk element, especially around the center web. Then, this study proposes a method to calculate the uncut chip thickness along the vector connecting the center of the ball and the cutting edge. The proposed method can reduce the estimation error of the uncut chip thickness especially around the center web compared with the previous method. Our study also realizes to calculate the uncut chip thickness discretely by using voxel model and detecting the removal voxels in each minute tool rotation angle, in which the relative relationship between a cutting edge and a workpiece, which changes dynamically during tool rotation. A cutting experiment with the ball end mill was conducted in order to validate the proposed method. The results showed that the error between the measured and predicted cutting forces can be reduced by the proposed method compared with the previous method.2018年, ASME 2018 13th International Manufacturing Science and Engineering Conference, MSEC 2018, 4[査読有り]研究論文（国際会議プロシーディングス）
- © 2018 The Authors. Published by Elsevier Ltd. In this study, a virtual milling force monitoring method is proposed for industrial milling process monitoring. For this purpose, a modified instantaneous rigid force model is proposed. Oblique and orthogonal cutting theories are applied in the model to reduce the number of cutting parameters required for milling force prediction. Only the shear angle must be determined in advance for cutting force prediction. In practice, the shear angle can be determined immediately at the start of a milling operation. Based on the shear angle, the milling forces are predicted and can be used instead of the measured milling forces. In addition, in the proposed force model, runout is taken as the difference in the uncut chip thickness between cutting edges. In order to confirm the effectiveness of the proposed force model, a milling experiment was conducted. The predicted milling forces were found to be in agreement with the measured values. These results demonstrate that milling process monitoring can be achieved without conducting experimental milling to determine the required parameters for prediction or installing additional force sensors.2018年, Procedia CIRP, 77, 22 - 25[査読有り]研究論文（国際会議プロシーディングス）
- © 2018 The Authors. Published by Elsevier Ltd. In this study, a novel end milling operation cutting simulator that considers the static tool deflection was developed. This simulator is based on an instantaneous rigid force model. In this model, the uncut chip thickness, which is necessary to estimate the cutting force, is calculated based on the static tool deflection, which consists of the deflections of the tool and tool holder caused by the cutting force. The newly developed end milling simulator represents the workpiece using a voxel model and calculates the uncut chip thickness from the removed voxels, which are those penetrated by the tool cutting edges. First, a previously developed method of calculating the uncut chip thickness from the voxels removed at minute tool rotation angle intervals was improved. Through the implementation of this improvement, cutting simulation with a high temporal resolution can be realized. With the proposed method, the cutting force is calculated from the uncut chip thickness at minute time intervals, and the static tool deflection is calculated from the cutting force. The uncut chip thickness is influenced by the static tool deflection. Therefore, the cutting force is calculated by considering the change in the uncut chip thickness due to the static tool deflection at minute time intervals. To confirm the effectiveness of the newly improved cutting simulator, a cutting experiment was conducted. The finished surface profiles estimated using the proposed method showed good agreement with the measured profiles.2018年, Procedia CIRP, 77, 574 - 577[査読有り]研究論文（国際会議プロシーディングス）
- Automatic process planning system for end-milling operation reflecting cam operator’s intentionCopyright © 2018 by ISFA. An automatic process planning system for end-milling operation is proposed, in which CAM operator's intention for process planning is considered. In the previous process planning systems, the machining sequence is calculated geometrically. However, it remains difficult to determine the best machining sequence from the large number candidates of the calculated machining sequences. The previous process planning systems also do not consider CAM operator's intention in the determination of the appropriate machining sequence. First, our new process planning system stores the priority of machining features to be machined and the geometrical properties of the selected machining region from operations of CAM operators to decide the machining sequence. After storing the priority of machining feature and the geometrical properties, the appropriate machining sequence can be automatically determined by reflecting these information. CAM operator's intention, which is involved implicitly in the stored geometrical properties of the machining region, can be applied to decide the appropriate machining sequence.2018年, Proceedings of 2018 ISFA - 2018 International Symposium on Flexible Automation[査読有り]研究論文（国際会議プロシーディングス）
- Automation of on-machine measurement based on 3D CAD model of productCopyright © 2018 by ISFA. On-machine-Measurement (OMM) is the measuring on the machine tool and getting the result of machining instead of measuring on a measuring instrument. OMM doesn’t require the desperation and repositioning process, so the shortening the lead time for inspections is achieved. For execution of OMM the operator should set measurement strategy, such as measurement item, the number of measuring points and the position, to generate a NC program for the measurement. In this study, our aim is the automation of those preparation tasks required time and effort, especially touch trigger probe which is introduced for NC machine tools is utilized. Our proposed system automatically recognize the machining feature from the Total Removal Volume (TRV) detected between the CAD models of product and material, and decide the measuring strategy. Therefore, the NC program for executing OMM with touch trigger probe is automatically generated. A case study was conducted to show the effectiveness of the developed OMM system.2018年, Proceedings of 2018 ISFA - 2018 International Symposium on Flexible Automation[査読有り]研究論文（国際会議プロシーディングス）
- © 2018 Japan Society for Precision Engineering. All rights reserved. In order to improve machining efficiency, it is required to recognize machining status and optimize cutting conditions. Cutting force is meaningful information to recognize machining status. In the instantaneous rigid force model, which is the most popular model for milling force prediction, milling force is calculated based on the geometrical intersection between cutting edge and workpiecc for each feed per tooth. In this model, both of static tool deflection and tool dynamic vibration arc not considered. In order to overcome this problem, a new high speed computational algorithm in our voxel based milling process simulation is proposed. The proposed algorithm permits to consider both of static tool deflection and tool dynamic vibration in our voxel based milling process simulation. In the proposed algorithm, the intersection between cutting edge and workpiece is calculated in each minute time interval or minute tool rotational angle interval. Furthermore, the proposed algorithm permits to shorten the computational time of detecting removal voxels to calculate uncut chip thickness discretely. Therefore, high precision analysis can be performed in minute space resolution. The effectiveness of the proposed algorithm is validated by experimental 3-axis milling tests. Predicted milling forces under several cutting conditions have good agreement with the measured milling forces.2018年, Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 84(2) (2), 175 - 181[査読有り]研究論文（学術雑誌）
- 一般社団法人 日本機械学会, 2018年, 生産システム部門講演会講演論文集, 2018(0) (0), 511 - 511, 日本語
In this study, an automatic process planning system for milling operation is proposed, in which user's intention for process planning is considered. First, our new process planning system stores the geometrical properties of the selected machining region when a user decides the machining sequence. After storing the geometrical properties, the appropriate machining sequence can be automatically selected by referring geometrical properties of the machining region. User's intention, which is involved implicitly in the stored geometrical properties of the machining region, can be applied to decide machining sequence. A case study was conducted to show the effectiveness of our new proposed process planning system. In the case study, user-specific machining sequences were automatically determined based on the implicit relation among the geometrical properties of the machining region and the individual user's intention.
[査読有り] - 一般社団法人 日本機械学会, 2018年, 関西支部講演会講演論文集, 2018(0) (0), 517 - 517, 日本語
In this study, autonomous end milling system for manufacturing custom-made dental prostheses was developed. This system can decide suitable machining orientation of dental prostheses to minimize unmachined volume automatically, and can prevent tool breakage by tool feed rate control based on the predicted cutting forces in end milling operation.
[査読有り] - 一般社団法人 日本機械学会, 2018年, 関西支部講演会講演論文集, 2018(0) (0), 509 - 509, 日本語
This paper describes an automation system to realize autonomous sheet metal bending operation by industrial robot. This system can derive bending sequences using topological information in a CAD model of a sheet metal product, and can generate operation paths to control an industrial robot in consideration of its positions and configurations.
[査読有り] - 一般社団法人 日本機械学会, 2018年, 年次大会, 2018(0) (0), S1310002, 日本語
Since motion accuracy of 5-axis machining centers directly influences the geometrical accuracy of the machined workpieces, accuracy enhancement of the 5-axis machining centers is strongly demanded. In order to improve the geometrical accuracy during the machining by a 5-axis machining centers, a method that modifies the CL-data based on the tracking errors normal to the machined surface at each command point has been proposed. In this study, the proposed method is applied to simultaneous 5-axis controlled machining to improve the motion accuracy. A normal vector calculation method for the simultaneous 5-axis controlled motion is newly proposed, and the compensation method is applied to the turbine blade machining by 5-axis controlled motions. Measurement tests of the cutting motion for the blade shape machining by a ball-end mill are carried out with the different control mode of the controller. The CL-data for machining tool path is also modified based on the calculated trajectory of the tool center point. Experimental results show that the feed speed and machining accuracy significantly depend on the control mode, and that the shape accuracy can be improved by applying the proposed compensation method without any decreasing of the motion speed.
[査読有り] - 一般社団法人 日本機械学会, 2018年, 日本機械学会論文集, 84(857) (857), 17 - 00433-17-00433, 日本語
This study aims to develop a monitoring system, which can automatically detect tool wear in end-milling operation. A feature of this system is the utilization of the predicted cutting torque for detecting the difference between normal and cutting trouble. The cutting torque predicted by a cutting force simulator is compared with the cutting torque measured and evaluated from the driving torque of a spindle motor. Because the dynamic change of the cutting torque can be predicted by the cutting force simulator as the reference cutting torque, it is possible to detect cutting trouble correctly without disturbance arise from the changes of the cutting conditions and the machining form at every moment. In the cutting simulator, this study uses the workpiece voxel model in order to calculate the uncut chip thickness for the estimation of the cutting force. For the tool wear detection, 200 % increase of the average cutting torque is set as the threshold to detect 300 μm flank wear. In an experimental milling of a workpiece with holes using a worn square end mill, it is confirmed that the increase of the average cutting torque can be identified clearly in both of stationary and transient milling situations. It was verified that the tool flank wear could be detected correctly even in the dynamic change of milling operation.
[査読有り]研究論文（学術雑誌） - ラジアスエンドミル加工の切削力予測のために，工具切れ刃形状および被削材形状のボクセルモデルで実切込み厚さを計算する切削力シミュレータを開発した．複雑な被削材形状を特殊な切れ刃形状のラジアスエンドミルで加工する場合でも実切込み厚さを検出することができる．予測した切削力は実測した切削力とよく一致した．公益社団法人 自動車技術会, 2018年, 自動車技術会論文集, 49(1) (1), 107 - 111, 日本語[査読有り]研究論文（学術雑誌）
- 2017年12月, Journal of Manufacturing Science and Engineering (ASME), 140(2) (2), 英語[査読有り]研究論文（学術雑誌）
- Since cutting force acts on feed drive and spindle drive systems as force disturbance, feed speed and spindle speed are changed. As the results, cutting force is also changed. In this study, a coupled simulation method of the vibration of machine tool, the dynamic behaviors of feed and spindle drive systems and the cutting force is developed. Simulation results are compared with the experimental results, and it is confirmed that the vibration of the feed and spindle drive systems due to the cutting force can be simulated by the proposed method. It is also confirmed that the cutting force influenced by the vibrations can be expressed.2017年11月, Proceedings of the 9th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2017[査読有り]研究論文（国際会議プロシーディングス）
- The purpose of this study is to propose a revised instantaneous rigid force model based on oblique cutting model for end-milling operation to eliminate predetermination of cutting coefficients. Although, six cutting coefficients are required for cutting force prediction in the conventional instantaneous rigid force model, the shear angle is only required in our revised force model. The determination of the shear angle is easier than the determination of six cutting coefficients from the cutting test. As a result from a validation, our revised force model can predict the cutting force more practically than the conventional instantaneous rigid force model.2017年11月, Proceedings of the 9th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2017[査読有り]研究論文（国際会議プロシーディングス）
- In this study, a new method utilizing the similarity of removal volume to select the most similar machining case data is proposed to realize automated NC program generation. The geometric information of the removal volume, which is extracted by splitting total removal volume, and the cutting conditions associated with the removal volume are stored in database as a machining case data. The proposed method can select the most similar machining case data from database even for the complicated product shape, because each extracted removal volume is geometrically simple. In the case study for the validation of the proposed method, the cutting conditions were successfully determined from the most similar machining case data and an NC program was automatically generated appropriately.2017年11月, Proceedings of the 9th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2017[査読有り]研究論文（国際会議プロシーディングス）
- 2017年05月, Journal of Ergonomics, 7(2) (2), 英語[査読有り]研究論文（学術雑誌）
- エンドミル加工を対象に,シミュレーションで予測できる切削トルクと主軸モータから検出できる切削トルクを比較し,加工異常を検出する方法を提案する.加工中に加工状態が変化しても切削トルクの増大割合から工具摩耗を検出できることを確認し,また切削トルク波形のモニタリング結果とシミュレーション結果の類似度の変化から工具欠損を検出できることを確認した.一般社団法人 日本機械学会, 2017年, 生産システム部門講演会講演論文集, 2017(0) (0), 309 - 309, 日本語[査読有り]
- 切削力は送り駆動系や主軸駆動系に外乱として作用し，断続切削では送り速度や主軸回転数の変動や機械の構造振動を励起するとともに，その振動で一刃当たりの送り量や切削速度が変動して切削力も変化する．本研究では主軸駆動系と送り駆動系の運動および機械の構造振動と切削力との連成シミュレーション技術を開発し，切削力により駆動系が振動し，それにより切削力が変動する現象を開発した方法で表現できることを確認した．公益社団法人 精密工学会, 2017年, 精密工学会学術講演会講演論文集, 2017(0) (0), 65 - 66, 日本語[査読有り]
- 加工中の切削力を推定し，切削力による工具の静変形を予測可能なシミュレータを開発した．このシミュレータは被削材のボクセルモデルを用いて，工具微小回転角ごとに実切込み厚さを計算して切削力を推定する．推定した切削力から工具変形および工具把持部の並進変形量を予測した．実加工による加工面とシミュレーションで予測した加工面を比較して，工具の静変形を考慮した切削加工シミュレーションの有効性を確認した．公益社団法人 精密工学会, 2017年, 精密工学会学術講演会講演論文集, 2017(0) (0), 999 - 1000, 日本語[査読有り]
- CUTTING FORCE PREDICTION OF BALL END MILLING BASED ON FULLY VOXEL REPRESENTATION OF CUTTING EDGE AND INSTANTANEOUS WORKPIECE SHAPEA new cutting force simulator has been developed to predict cutting force in ball end milling. This new simulator discretely calculates uncut chip thickness based on a fully voxel representation of the cutting edge and instantaneous workpiece shape. Previously, a workpiece voxel model was used to calculate uncut chip thickness under a complex change of workpiece shape. Using a workpiece voxel model, uncut chip thickness is detected by extracting the voxels removed per cutting edge tooth for the amount of material fed into the cutting edge. However, it is difficult to define the complicated shape of a cutting edge using the workpiece voxel model; the shape of the cutting edge must be defined by a mathematical expression. It is also difficult to model the voxels removed by the cutting edge when the tool posture is non-uniformly changed. We therefore propose a new method to detect uncut chip thickness, one in which both the cutting edge and the instantaneous workpiece shape are fully represented by a voxel model. Our proposed method precisely detects uncut chip thickness at minute tool rotational angles, making it possible to detect the uncut chip thickness between the complex surface shape of the workpiece and the particular shape of the cutting edge. To validate the effectiveness of our proposed method, experimental 5-axis milling tests using a ball end mill were conducted. Estimated milling forces for several tool postures were found to be in good agreement with the measured milling forces. Results from the experimental 5-axis milling validate the effectiveness of our proposed method.AMER SOC MECHANICAL ENGINEERS, 2017年, PROCEEDINGS OF THE ASME 12TH INTERNATIONAL MANUFACTURING SCIENCE AND ENGINEERING CONFERENCE - 2017, VOL 3, 英語[査読有り]研究論文（国際会議プロシーディングス）
- MACHINING OPERATION PROCESS PLANNING SYSTEM CONSIDERING USER STRATEGIES AND INTENTIONSIn this study, we propose a new process planning system for machining operations, one which considers user strategies and intentions for such operations. In previous process planning systems, the machining sequence is calculated geometrically, based on the Total Removal Volume (TRV) and the machining primitive region split from TRV. However, it remains difficult to determine the best machining sequence from among the large number of machining sequences calculated. Also, previous process planning systems do not consider user strategies and intentions in determining the appropriate machining sequence. Our new approach stores geometrical properties of the machining primitives when the user selects a machining sequence. Using these stored geometrical properties, the appropriate machining sequence can be automatically selected. User strategies and intentions are thus considered in determining a machining sequence based on learned geometrical properties. A case study was conducted to show the effectiveness of our proposed process planning approach. In the case study, user specific machining sequences were automatically determined for various users, based on the relation among the geometrical properties of the machining primitives and the individual user's strategies and intentions.AMER SOC MECHANICAL ENGINEERS, 2017年, PROCEEDINGS OF THE ASME 12TH INTERNATIONAL MANUFACTURING SCIENCE AND ENGINEERING CONFERENCE - 2017, VOL 3, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 一般社団法人 システム制御情報学会, 2017年, システム制御情報学会論文誌, 30(3) (3), 81 - 86, 日本語
A new method of the process planning for end-milling operation considering product design constraints in this study. In our previous study, the process planning system, in which the Total Removal Volume is divided by the planes parallel with the XY, YZ or ZX planes to analyze machining sequence from top to bottom of the target product, is proposed. In this study, the process planning system, in which the Total Removal Volume is divided by all planes (including slope planes) existing on the target product, is proposed. Furthermore, the product design constraints or the designer's intention such as separate through holes which have the same central axis to be slide bearing is considered. A case study was conducted and the result showed that the proposed method can generate efficient multiple process plans for the machining operation. These multiple process plans or machining sequences are available to select adaptively the most suitable process plan or machining sequence under the several conditions such as the machine tool to be used and the product design constructions.
[査読有り]研究論文（学術雑誌） - 一般社団法人 日本機械学会, 2017年, 日本機械学会論文集, 83(856) (856), 17 - 00254-17-00254, 日本語
It is known that the cutting force excites the structural vibration of machine tool. In addition, cutting force acts on feed and spindle drive system as a force disturbance, and feed speed and spindle speed are changed. As the results, cutting force is also changed because the depth of cut and cutting speed are changed due to the machine vibration, feed and spindle speed changes. The purpose of this study is to analyze the coupled vibration between the machine tool behavior and the cutting force. In order to achieve the purpose, in this study, a coupled simulation method of the vibration of machine tool, the dynamic behaviors of feed and spindle drive systems and the cutting force is developed. Cutting force and machined surface geometry is simulated using the voxel simulator in which the workpieces is represented by voxels. Undeformed chip thickness can be calculated based on the relative position between the tool and workpieces, and the tool rotational angle at the each time step based on the voxel model. The cutting force is estimated based on the calculated undeformed chip thickness. The relative position between tool and workpiece at each time step is simulated by the feed drive system and machine tool structural models. The tool rotational angle is simulated by the spindle drive system model. The coupled simulation between the cutting force, structural vibration of machine tool and feed and spindle drive systems is carried out by applying the simulated cutting force and cutting torque as a disturbance to the feed and spindle drive systems and machine tool structure. Cutting tests and simulations are carried out with two kinds of radial depth of cut, 5 mm and 20 mm. It is confirmed that the machine tool dynamic behaviors due to the cutting force and torque which is also influenced by the machine tool behaviors can be simulated by the proposed method. It is also confirmed that the chatter vibration which is observed in case of the 20 mm depth of cut can be simulated by the proposed method.
[査読有り][招待有り]研究論文（学術雑誌） - 一般社団法人 日本機械学会, 2017年, 日本機械学会論文集, 83(856) (856), 17 - 00247-17-00247, 日本語
In end milling, in order to improve machining efficiency and accuracy, instantaneous rigid force model is widely used to predict cutting force and improve cutting conditions. The instantaneous rigid force model is well known as the practically simple model to predict cutting force. However this model requires the six parameters called cutting coefficients which have to be determined by the experimental milling operation. So several experimental milling operations are needed before cutting force prediction. In this study, a new instantaneous rigid force model based on oblique cutting is proposed. In this force model, the end milling process is modeled using the oblique cutting model. Therefore, cutting force prediction can be realized using only the one parameter such as shear angle instead of the six parameters such as cutting coefficients required for a conventional instantaneous rigid force model. The shear angle can be determined from tangential milling force or milling torque. And this force model is easier to apply for practical cutting force prediction, because time and effort to determine the parameter(s) before cutting force prediction. The validation of this force model compared with the conventional force model is performed. As the result, cutting forces predicted by the proposed force model has good agreement with the measured cutting forces. Also, the proposed force model has good performance in a wide range of cutting conditions compared with the conventional force model.
[査読有り]研究論文（学術雑誌） - 2016年11月, 型技術ワークショップ2016 in なにわ講演論文, 46 - 47, 日本語被削材のボクセルモデルによるボールエンドミルの工具姿勢変化を考慮した5軸加工の切削力シミュレーション研究論文（その他学術会議資料等）
- 2016年11月, 第17回国際工作機械技術者会議論文集, 116 - 117, 日本語CAM-CNC統合による革新的な知能化工作機械の開発研究論文（その他学術会議資料等）
- 砥粒加工学会, 2016年08月, 2016年度砥粒加工学会学術講演会(ABTEC2016)講演論文集, A03 - A03, 日本語切削トルクの予測結果と実測結果の比較に基づく加工異常検出システムの提案[査読有り]研究論文（その他学術会議資料等）
- 2016年07月, 精密工学会2016年度関西地方定期学術講演会講演論文集, 32 - 33, 日本語被削材のボクセルモデル表現によるボールエンドミル加工の切削力推定[査読有り]研究論文（その他学術会議資料等）
- 2016年07月, 精密工学会2016年度関西地方定期学術講演会講演論文集, 34 - 35, 日本語歯科補綴物の一貫加工システムの開発[査読有り]研究論文（その他学術会議資料等）
- 一般社団法人 日本機械学会, 2016年07月, 日本機械学会, 82(840) (840), 1600006 - 1600006, 日本語
For several decades, factory automation or unmanned factory productivity has been progressed to realize much higher productivity in manufacturing. However, human centered manufacturing system is getting attention to realize much more flexibility for manufacturing of wide product variety and volume. So it is necessary to provide the safe and efficient environment to workers considering their own physical properties. This study investigated a mechanism of muscle fatigue and proposed a muscular fatigue model to evaluate muscle fatigue progress under several muscular force patterns. Previous studies have already proposed a muscular fatigue model. However, these previous studies discussed about the condition of maximum voluntary contraction. The new point of this study is considering several muscular force patterns including muscle recovery progress. This study proposed the method to estimate the endurance times for keeping constant forces considering the physical characteristics. This study also proposed the method to estimate the iteration numbers for keeping constant forces with interval. To validate the effectiveness of the proposed method, experimental verifications were conducted. The experimental results had a good agreement with the evaluation of muscle fatigue progress using the proposed method although it is necessary to consider the method to raise the precision of determining the physical parameters and the method to decrease the dispersion of experiments derived from the subjective judgement of participants. Success of resolving these issues will provide ergonomically safe and efficient working environments considering the physical properties of each worker.
[査読有り]研究論文（学術雑誌） - 2016年03月, Journal of Ergonomics, 6(2) (2), 100158 - 1000158, 英語[査読有り]研究論文（学術雑誌）
- This study proposes the method of the process planning for 5-axis machine tools. In our previous study, the process planning, in which the Total Removal Volume is divided by the planes parallel with the XY, YZ or ZX plane to analyze machining sequence from top to bottom of the target product, is proposed. In this study, the process planning system in which the Total Removal Volume is divided by all planes (including slope planes) existing on the target product is proposed. Furthermore, the design constraint or the designer's intention such as discontinuous through holes which have the same central axis is considered in this process planning. A case study was conducted and the result showed that the proposed method can design efficient multiple process plans for the machining operation. These multiple process plans or machining sequences allow users to select adaptively the suitable process plan or machining sequence based on the property of 5-axis machine tool to be used under the design constraint.IEEE, 2016年, 2016 INTERNATIONAL SYMPOSIUM ON FLEXIBLE AUTOMATION (ISFA), 2016(ISFA) (ISFA), 352 - 355, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 一般社団法人 日本機械学会, 2016年, 年次大会, 2016(0) (0), S1320203 - S1320203, 日本語
A new methodology to revise cutting conditions for machining operation planning has been developed in this study. In order to automate machining operation planning, reuse of cutting conditions in the past machining operations was proposed in our previous study. However, assessment and revision of cutting conditions are required to apply for the objective machining operation from the reference machining operation. For the assessment of cutting conditions, an acceptable area to select cutting conditions (AACC) is calculated. The AACC can be calculated under several limitations such as spindle power and maximum feed speed of machine tools, torsional and bending strength of cutting tools and so on. In the case that the reference cutting condition stays in the AACC, the reference cutting condition can be applied for the objective machining operation without any revision. In the case that the reference cutting condition stays out the AACC, the reference cutting condition should be revised to adapt for the objective machining operation. In our study, a methodology, which revises cutting conditions under keeping productivity, surface roughness (cusp height) and tool life, was proposed. In this report, an expanded methodology to revise cutting conditions by qualified relaxation of machining requirements is proposed to achieve wide range adaptation of the reference cutting conditions to the objective machining operation.
[査読有り]研究論文（その他学術会議資料等） - 一般社団法人 日本機械学会, 2016年, 生産加工・工作機械部門講演会 : 生産と加工に関する学術講演会, 2016(0) (0), D18 - 206, 日本語
Instantaneous cutting force model is widely used for the cutting force prediction for end milling operation. However this model is required to prepare 6 parameters called cutting coefficients which can be determined from experimentally measured cutting forces. In this study, a new end-milling force prediction method based on oblique cutting model is proposed. This method can predict cutting force using only the experimentally predetermined shear angle instead of 6 cutting coefficients required for a conventional instantaneous cutting force model. This method is easier to apply for practical cutting force prediction, because it is easier to predetermine shear angle than 6 cutting coefficients.
研究論文（その他学術会議資料等） - This study investigated a mechanism of muscle fatigue and proposed a muscular fatigue model to evaluate muscle fatigue progress under several muscular force patterns. Previous studies have already proposed a muscular fatigue model. However, these previous studies discussed about the condition of the maximum voluntary contraction. The new point of this study is considering several muscular force patterns including muscle recovery progress. This study proposed the method to estimate the endurance time for keeping constant forces considering the physical characteristics. This study also proposed the method to estimate the iteration numbers for keeping constant forces with interval. To validate the effectiveness of the proposed method, experimental verifications were conducted. The experimental results had a good agreement with the evaluation of muscle fatigue progress using the proposed method. The results of this study will provide ergonomically safe and efficient working environments considering the physical properties of each worker.SPRINGER INT PUBLISHING AG, 2016年, ADVANCES IN PHYSICAL ERGONOMICS AND HUMAN FACTORS, 489, 515 - 525, 英語[査読有り]研究論文（国際会議プロシーディングス）
- 2012年01月, 日本人間工学会, 48(2) (2), 62 - 69, 日本語拮抗筋および二関節筋を考慮した下肢筋力の推定手法 －ジョギング動作における下肢筋力の推定－[査読有り]研究論文（学術雑誌）
- 2011年09月, 日本人間工学会, 47(6) (6), 244 - 251, 日本語拮抗筋および二関節筋を考慮した下肢筋力の推定手法 －垂直跳びにおける下肢筋力の推定－[査読有り]研究論文（学術雑誌）
- 2011年06月, Biomechanics in Sports, 11(2) (2), 547 - 550, 英語Estimation of Ground Reaction Forces during Walking[査読有り]研究論文（学術雑誌）
- This study investigated a musculoskeletal model that includes the function of the antagonistic muscles and biarticular muscles and models muscles acting across the hip, knee and ankle joints, simultaneously. Furthermore, this study can be applied to dynamic motions. One vertical jump trials were conducted to validate the proposed model. Electromyograms (EMGs) of tibials anterior, gastrocnemius, soleus, rectus femoris, vastus lateralis, semimembranosus, biceps femoris, short head and gluteus maximus were used to compare with the estimated muscle forces. The results showed that the muscle forces estimated by the proposed method had a stronger correlation with EMGs than those of an optimization method. The correlations of the proposed method and the optimization method were 0.4 and 0.01 of TA, 0.95 and 0.86 of GAS, 0.95 and 0.93 of SOL, 0.94 and 0.01 of RF, 0.93 and 0.97 of VAS, 0.83 and 0.91 of SM, 0.75 and 0.01 of BFSH and 0.95 and 0.92 of GMAX. Thus, the proposed method was considered to successfully estimate the muscle forces during vertical jumping. (C) 2011 Published by Elsevier Ltd. Selection and peer-review under responsibility of RMIT UniversityELSEVIER SCIENCE BV, 2011年, 5TH ASIA-PACIFIC CONGRESS ON SPORTS TECHNOLOGY (APCST), 13, 338 - 343, 英語[査読有り]研究論文（国際会議プロシーディングス）
- The analysis and clarification of man's physical properties are very important in the field of sport and welfare engineering. The results of these analysis and clarification contribute to the improvement of physical ability, the prevention of injury in sports, the effective rehabilitation and the evaluation of dynamic load in daily life. The solid body link model, which has been used for the analysis on human body performance, can estimate the force and torque which acts on each joint from the recorded human motion. However, the muscle functionality is not considered in the solid body link model. In order to evaluate the muscular power during human motion, the human musculo-skeletal model considering bi-articular muscle function is required. In this study, the basic two dimensional musculo-skeletal model of man's lower limb was constructed and the muscular power of each effective muscle was estimated from the recorded human motion. The lower limbs muscular power in vertical jump is estimated to verify the musculo-skeltal model constructed.一般社団法人日本機械学会, 2008年, ジョイント・シンポジウム講演論文集：スポーツ工学シンポジウム：シンポジウム：ヒューマン・ダイナミックス, 2008, 335 - 340, 日本語
- B9 筋肉の疲労進展を評価する筋疲労モデルの提案(筋特性)For several decades, factory automation or unmanned factory productivity has been progressed to realize much higher productivity in manufacturing. However, human centered manufacturing system is getting attention to realize much more flexibility for manufacturing of wide product variety and volume. In this study, a mechanism of muscle fatigue is investigated, and a muscular fatigue model to evaluate muscle fatigue progress under several muscular force patterns is proposed. Furthermore, the endurance time for keeping constant force by the participant is estimated considering physical characteristics of the participant. In order to show the effectiveness of the proposed method, experimental verifications were conducted. The experimental results had a good agreement with the evaluation of muscle fatigue progress using the proposed method. The proposed model contributes to evaluate the ergonomic working environments and the comfortable working motions.一般社団法人日本機械学会, 2011年10月30日, シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 : symposium on sports and human dynamics, 2011, 298 - 302, 日本語
- B33 短距離走クラウチングスタートにおけるブロッククリアランス技術(走動作,ほか)In the sprint, the sprinters are required to use starting blocks at the crouch start. Therefore, it is important to clarify the technique of block clearance in order to improve sprint performance. The purpose of this study is to examine the technique of block clearance from joint torque and joint power in lower extremity applied to the starting blocks by sprinters. From starting blocks, six sprinters did the "starting dash" as is done in a sprint running race, and the forces applied to the right and left starting block were measured by with the force plates (1kHz). And, the block clearance movement was recorded by Hi-speed camera (250Hz). The results can be summarized as follows. There were two different patterns about the joint torque and power applied to the rear block. The type of pushing the rear block was presumed to have exhibited the extension torque and power at the hip and ankle of the rear leg. On the other hand, the type of pulling the rear leg from the rear block was presumed to have exhibited the flexion torque at the hip and the extension torque and power at the knee and ankle of the rear leg.一般社団法人日本機械学会, 2011年10月30日, シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 : symposium on sports and human dynamics, 2011, 412 - 417, 日本語
- B11 立幅跳びにおける桔抗筋および二関節筋を考慮した下肢筋力の推定手法の検証(筋特性)Estimation of muscle forces during human motions is important in the fields of sport, ergonomics and bioengineering in order to improve sport techniques, rehabilitation procedures, product designs and work environments, and so on. In general, in the musculoskeletal models that have been developed, the functions of antagonistic muscles and biarticular muscles are not considered to estimate muscle forces. In this study, a musculoskeletal model that considered the functions of the antagonistic muscles and biarticular muscles was investigated. In this model, muscles acting across the hip, knee and ankle joints were treated simultaneously. Furthermore, in this study, standing long jump as dynamic motion was conducted to validate the proposed model to estimate muscle forces. Surface electromyograms (EMGs) of tibialis anterior, gastrocnemius, soleus, rectus femoris, vastus lateralis, semimembranosus, biceps femoris and short head and gluteus maximus were measured to compare with the estimated muscle forces. The experimental results showed that the muscle forces estimated by the proposed method had a good agreement with the EMGs of muscles.一般社団法人日本機械学会, 2011年10月30日, シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 : symposium on sports and human dynamics, 2011, 309 - 314, 日本語
- ELSEVIER SCIENCE BV, 2010年, ENGINEERING OF SPORT 8: ENGINEERING EMOTION - 8TH CONFERENCE OF THE INTERNATIONAL SPORTS ENGINEERING ASSOCIATION (ISEA), 2(2) (2), 3463 - 3463, 英語研究発表ペーパー・要旨（国際会議）
- 8th International Conference on Virtual Machining Process Technology, 2019年04月, 英語, CIRP, Vancouver, 国際会議Influence of Non-linear Friction Characteristics of Linear Guide and Ball Screw in Milling Operation口頭発表（一般）
- 型技術者会議2019, 2019年, 日本語, 国内会議切削シミュレータを統合したエンドミル加工用CAMの開発口頭発表（一般）
- 14th International Manufacturing Science and Engineering Conference, 2019年, 英語, 国際会議Automated measuring planning for on-machinine measurement and re-machining process口頭発表（一般）
- the ASME 2018 Manufacturing Science and Engineering Conference, 2018年06月, 英語, ASME, Colleage Station, 国際会議Enhancement of Motion Accuracy for Cone-frustum Cutting Motion by Modified NC Program口頭発表（一般）
- 第18回国際工作機械技術者会議, 2018年, 日本語, 国内会議熟練者のノウハウを反映した工具経路自動生成ポスター発表
- 日本機械学会2018年度年次大会, 2018年, 日本語, 国内会議作業設計を考慮したエンドミル加工用自動工程設計システム（工具交換回数を最小化する工程設計）口頭発表（一般）
- 日本機械学会生産システム部門研究発表講演会, 2018年, 日本語, 国内会議機械加工用自動工程設計におけるユーザの意図を反映した工程案の導出口頭発表（一般）
- 精密工学会第25回学生会員卒業研究発表講演会, 2018年, 日本語, 国内会議機械加工部品の設計情報を利用した機上計測の自動化口頭発表（一般）
- 日本機械学会関西支部第93期定時総会講演会, 2018年, 日本語, 国内会議ロボットによる板金曲げ加工の自律作業を実現する曲げ順序計画および動作経路生成の自動化口頭発表（一般）
- 日本機械学会関西支部2017年度学生員卒業研究発表講演会, 2018年, 日本語, 国内会議ボールエンドミル先端部の切削抵抗を考慮した切削力シミュレーション口頭発表（一般）
- 精密工学会2018年度秋季大会学術講演会, 2018年, 日本語, 国内会議エンドミル加工における工具系の弾性変形の予測結果に基づく加工誤差補正法ポスター発表
- 13th International Manufacturing Science and Engineering Conference, 2018年, 英語, 国際会議Voxel based cutting force simulation of ball end milling considering cutting edge around ceter web口頭発表（一般）
- 8th CIRP Conference on High Performance Cutting, 2018年, 英語, 国際会議Virtual milling force monitoring method based on in-process milling force prediction model to eliminate predetermination of cutting coefficients口頭発表（一般）
- 17th International Conference on Precision Engineering, 2018年, 英語, 国際会議Tool chipping detection based on spindle motor torque distortion in end-milling口頭発表（一般）
- 型技術ワークショップ2018 in ふくい, 2018年, 日本語, 国内会議NCプログラムの自動生成と加工時間予測で実現する製品形状に応じた工作機械の割当て口頭発表（一般）
- 9th International Conference on Applied Human Factors and Ergonomics, 2018年, 英語, 国際会議Muscle force prediction method considering the role of antagonistic muscle口頭発表（一般）
- 8th CIRP Conference on High Performance Cutting, 2018年, 英語, 国際会議Cutting Force and Finish Surface Simulation of End Milling Operation in Consideration of Static Tool Deflection by Using Voxel Model口頭発表（一般）
- 日本機械学会関西支部第93期定時総会講演会, 2018年, 日本語, 国内会議CAM操作を必要としない歯科補綴物の自律加工口頭発表（一般）
- 2018 International Symposium on Flexible Automation, 2018年, 英語, 国際会議Automation of on-machine measurement based on 3D CAD model of product口頭発表（一般）
- 2018 International Symposium on Flexible Automation, 2018年, 英語, 国際会議Automatic process planning system for end-milling operation reflecting CAM operator’s intentnion口頭発表（一般）
- 9th International Conference on Leading Edge Manufacturing in 21st Century (LEM21), 2017年11月, 英語, JSME, 広島市, 国際会議Determination of Cutting Conditions for NC Program Generation by Reusing Machining Case Data based on Removal Volume Feature口頭発表（一般）
- 9th International Conference on Leading Edge Manufacturing in 21st Century (LEM21), 2017年11月, 英語, JSME, 広島市, 国際会議Coupled Simulation between Machine Tool Behavior and Cutting Force using Voxel Simulator口頭発表（一般）
- 9th International Conference on Leading Edge Manufacturing in 21st Century (LEM21), 2017年11月, 英語, JSME, 広島市, 国際会議A revised instantaneous rigid force model for end-milling operation to eliminate predetermination of cutting coefficients口頭発表（一般）
- 2017年度精密工学会秋季大会学術講演会, 2017年09月, 日本語, 豊中市, 国内会議ボクセルモデルを用いた切削力シミュレータによる工作機械の動的挙動と切削力の時間領域連成シミュレーション口頭発表（一般）
- 日本機械学会シンポジウム：スポーツ工学・ヒューマンダイナミクス2017, 2017年, 日本語, 国内会議冗長筋群を考慮した筋骨格モデルによる筋力推定口頭発表（一般）
- 自動車技術会2017年春季大会学術講演会, 2017年, 日本語, 国内会議工具切れ刃形状および被削材形状のボクセルモデルによるラジアスエンドミルの切削力シミュレーション口頭発表（一般）
- 精密工学会2017年度秋季大会学術講演会, 2017年, 日本語, 国内会議工具の静変形を考慮したエンドミル加工の切削加工シミュレーション口頭発表（一般）
- 密工学会2017年度関西地方定期学術講演会, 2017年, 日本語, 国内会議ロボットによる板金曲げ加工のための工程設計および作業設計の自動化ポスター発表
- 密工学会2017年度関西地方定期学術講演会, 2017年, 日本語, 国内会議ユーザの戦略や意図を考慮した機械加工用工程設計支援システムの開発ポスター発表
- 密工学会2017年度関西地方定期学術講演会, 2017年, 日本語, 国内会議スクエアエンドミル加工における工具摩耗予測手法ポスター発表
- 日本機械学会生産システム部門研究発表講演会2017, 2017年, 日本語, 国内会議エンドミル加工における切削トルクの予測結果と実測結果の定量比較による加工異常検出口頭発表（一般）
- ASME 2017 12th International Manufacturing Science and Engineering Conference, 2017年, 英語, 国際会議Machining operation process planning system considering user strategies and intentions口頭発表（一般）
- ASME 2017 12th International Manufacturing Science and Engineering Conference, 2017年, 英語, 国際会議Cutting force prediction of ball end milling based on fully voxel representation of cutting edge and instantaneous workpiece shape口頭発表（一般）
- 型技術ワークショップ2017 in 岡山, 2017年, 日本語, 国内会議CAM-CNC統合による革新的な工作機械の知能化 –試作版の実装と評価-口頭発表（一般）
- 精密工学会2016年度関西地方定期学術講演会, 2016年, 日本語, 国内会議被削材のボクセルモデル表現によるボールエンドミル加工の切削力推定ポスター発表
- 型技術ワークショップ2016 in なにわ, 2016年, 日本語, 国内会議被削材のボクセルモデルによるボールエンドミルの工具姿勢変化を考慮した5軸加工の切削力シミュレーション口頭発表（一般）
- 2016年度砥粒加工学会学術講演会, 2016年, 日本語, 国内会議切削トルクの予測結果と実測結果の比較に基づく加工異常検出システムの提案口頭発表（一般）
- 日本機械学会シンポジウム：スポーツアンド・ヒューマンダイナミクス2016, 2016年, 日本語, 国内会議疾走時の地面反力の推定に関する研究口頭発表（一般）
- 精密工学会2016年度関西地方定期学術講演会, 2016年, 日本語, 国内会議歯科補綴物の一貫加工システムの開発ポスター発表
- 日本機械学会第11回生産加工・工作機械部門講演会, 2016年, 日本語, 国内会議傾斜切削理論に基づくエンドミル加工の切削力予測モデルの提案口頭発表（一般）
- 日本機械学会2016年度年次大会, 2016年, 日本語, 国内会議加工事例を参照する作業設計における切削条件の適応的修正法（第2報：制約条件緩和による切削条件修正法の拡張）口頭発表（一般）
- 2016 International Symposium on Flexible Automation, 2016年, 英語, 国際会議Process Planning System of 5-Axis Machining Center Considering Constraint Condition口頭発表（一般）
- 第17回国際工作機械技術者会議, 2016年, 日本語, 国内会議CAM-CNC統合による革新的な知能化工作機械の開発ポスター発表
- 型技術ワークショップ2016 in なにわ, 2016年, 日本語, 国内会議CAM-CNC統合による革新的な工作機械の知能化 -切削力の予測結果に基づく適応制御-口頭発表（一般）
- 日本機械学会シンポジウム：スポーツアンド・ヒューマンダイナミクス2011, 2011年, 日本語, 国内会議立幅跳びにおける拮抗筋及び二関節筋を考慮した下肢筋力の推定手法の検証口頭発表（一般）
- 日本機械学会シンポジウム：スポーツアンド・ヒューマンダイナミクス2011, 2011年, 日本語, 国内会議短距離走クラウチングスタートにおけるブロッククリアランス技術口頭発表（一般）
- 日本機械学会シンポジウム：スポーツアンド・ヒューマンダイナミクス2011, 2011年, 日本語, 国内会議筋肉の疲労進展を評価する筋疲労モデルの提案口頭発表（一般）
- International Society of Biomechanics 2011, 2011年, 英語, 国際会議Validation of muscle forces during jogging estimated with an ergonomic musculoskeletal model口頭発表（一般）
- 5th Asia-Pacific Congress on Sports Technology, 2011年, 英語, 国際会議Development of an ergonomic musculoskeletal model to estimate muscle forces during vertical jumping口頭発表（一般）
- 2010 Asian Conference on Design and Digital Engineering, 2010年, 英語, 国際会議Optimization of Lifting Posture Based on Motion Analysis Using Musculoskeletal Human Model Considering Bi-articular Muscle Function口頭発表（一般）
- 8TH CONFERENCE OF THE INTERNATIONAL SPORTS ENGINEERING ASSOCIATION (ISEA), 2010年, 英語, 国際会議A study on improving performance in vertical jump motion considering bi-articular muscle functionポスター発表
- 4th Asia-Pacific Congress on Sports Technology, 2009年09月, 英語, 国際会議Lower Limbs Muscular Power In Vertical Jump Estimated By Human Musculo-Skeletal Model Considering Bi-Articular Muscle Function口頭発表（一般）
- 精密工学会2009年度秋季大会, 2009年, 日本語, 国内会議作業評価に用いる二関節筋を考慮した筋骨格モデルの研究口頭発表（一般）
- 日本機械学会シンポジウム：スポーツアンド・ヒューマンダイナミクス2008, 2008年, 日本語, 国内会議二関節筋を考慮した筋骨格モデルを用いた垂直跳びにおける下肢筋力の推定口頭発表（一般）
- 日本学術振興会, 科学研究費助成事業 基盤研究(C), 基盤研究(C), 神戸大学, 2022年04月 - 2025年03月, 研究代表者切削による一品生産の自動化を志向したCAMシステムに関する研究
- 科学研究費補助金／基盤研究(B), 2018年04月 - 2021年03月競争的資金
- 科学研究費補助金／基盤研究(B), 2017年04月 - 2020年03月競争的資金
- 学術研究助成基金助成金／若手研究(B), 2017年04月 - 2019年03月, 研究代表者競争的資金
- 形状認識装置，および形状認識方法特願2020-085466, 2020年05月14日特許権
- NCデータ生成装置，およびNCデータ生成プログラム特願2019-226707, 2019年12月16日特許権
- NCデータ変更装置，およびNCデータ変更プログラム特願2019-169667, 2019年09月18日特許権
- 生産計画策定装置，生産計画策定プログラム，および生産計画策定方法特願2019-121418, 2019年06月28日特許権
- 加工シミュレーションシステム，および加工シミュレーションプログラム特願2019-094659, 2019年05月20日特許権
- 工程設計システム，および加工順序決定方法特願2018-084733, 2018年04月26日特許権
- 切削シミュレーション方法および装置特願2017-196099, 2017年10月06日特許権
- 加工支援システム特願2017-043061, 2017年03月07日特許権
- 加工支援システム特願2016-243789, 2016年12月15日特許権
- 工程設計支援システム、および、工程設計支援方法特願2016-114701, 2016年06月08日特許権
研究シーズ
■ 研究シーズ- 機械加工のレベル5自動運転で実現する自律生産システムシーズカテゴリ：情報通信, ものづくり技術（機械・電気電子・化学工業）研究キーワード：CAD/CAM, マスカスタマイゼーション, 切削加工, 工作機械研究の背景と目的：わが国の製造業は少子高齢化による従事者の減少と熟練者の退職という問題に直面しています。一方で、世界が掲げている持続可能な開発目標(SDGs)では、社会の多様なニーズに決め細やかに対応可能なものづくりが求められており、持続可能な産業化を実現するためには、従来のような人に依存したやり方ではなく、コンピュータ技術やIoT技術を駆使した新しいものづくりの仕組みを構築する必要があります。研究内容：私の研究では、製品の3次元のデジタル情報（CADモデル）のみを入力として、工具の経路情報の作成を完全に自動で実現するシステムを構築しています。CADモデルの形状を解析して、除去すべき領域の情報や各領域の加工に使用する工具の選定、加工条件の決定、加工順序の決定など、従来では熟練の技術者が行っていた高度な判断をソフトウェアに組み込むことで自動化を実現しています。本研究によってこれまで高品質な製品を作り出してきたわが国のものづくり基盤をデジタル技術で置き換え、加工現場に人がいなくてもカスタマイズ製品を高品質・高効率で生産することを可能にする自律生産システムを構築します。これにより、自動化できる加工はシステムに任せて、熟練の技術者はより高付加価値の加工に専念することができます。人とシステムのいいとこ取りをして、共存していくことが大事です。
期待される効果や応用分野：機械がすべての動的運転タスクおよび作動継続が困難な場合への応答を持続的かつ無制限に実行する自動化、つまりレベル5の自動運転技術を目指します。ただし、このようなものづくり技術とは産業革新やイノベーションのシーズ創出の手段であり、目的ではないことを最近は感じており、構築してきたものづくり技術を基盤として、医療分野や宇宙開発に展開することを考えています。関係する業績：私は実現したシステムを社会に展開するために大学発ベンチャーであるBESTOWS株式会社を起ち上げ、技術移転をして活動もしています。研究成果を実社会で活用してもらい、そこで得た資金を大学へ還元して研究環境を充実して、新たな研究活動を行うような好循環を生み出せればと思い、日々奮闘しています。
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