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Proceedings Papers

Nonlinear Model Predictive Control of a Stewart Platform Motion Stabilizer

Takeyuki Ono, Ryosuke Eto, Junya Yamakawa, Hidenori Murakami
Proc. ASME. IMECE2020, Volume 7B: Dynamics, Vibration, and Control, V07BT07A029, November 16–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2020-23725
https://doi.org/10.1115/IMECE2020-23725
View Paper titled, Nonlinear Model Predictive Control of a Stewart Platform Motion Stabilizer
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Topics: Predictive control, Vehicles, Manipulators, Ships, Errors, Surgery, Algorithms, Computer simulation, Control equipment, Degrees of freedom
Proceedings Papers

Static and Dynamic Characterization of Tensegrity Modules

Hidenori Murakami, Yoshitaka Nishimura
Proc. ASME. DETC99, Volume 7B: 17th Biennial Conference on Mechanical Vibration and Noise, 2609-2617, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/VIB-8020
https://doi.org/10.1115/DETC99/VIB-8020
View Paper titled, Static and Dynamic Characterization of Tensegrity Modules
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Topics: Tensegrity, Deformation, Stress, Dynamic response, Equilibrium (Physics), Modal analysis, Stiffness
Proceedings Papers

Dynamic Modeling and Analysis for a Planar Three Degrees-of-Freedom Manipulator Under Prescribed Mount Motion

Takeyuki Ono, Ryosuke Eto, Junya Yamakawa, Hidenori Murakami
Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A073, November 11–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2019-10781
https://doi.org/10.1115/IMECE2019-10781
View Paper titled, Dynamic Modeling and Analysis for a Planar Three Degrees-of-Freedom Manipulator Under Prescribed Mount Motion
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Topics: Degrees of freedom, Dynamic modeling, Manipulators, Sliding mode control
Proceedings Papers

Control Simulations for a Stewart Platform Compensator Mounted on Moving Base

Takeyuki Ono, Ryosuke Eto, Junya Yamakawa, Hidenori Murakami
Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A017, November 11–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2019-10780
https://doi.org/10.1115/IMECE2019-10780
View Paper titled, Control Simulations for a Stewart Platform Compensator Mounted on Moving Base
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Topics: Biomedicine, Computer simulation, Control equipment, Delays, Design, Engineering simulation, Equations of motion, Motion compensation, Nonlinear systems, Robustness
Proceedings Papers

Analysis and Design of Twin Gyroscopes for Ocean-Wave Energy Converters and Ship Roll-Stabilizers

Hidenori Murakami, Takeyuki Ono
Proc. ASME. IMECE2019, Volume 4: Dynamics, Vibration, and Control, V004T05A077, November 11–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2019-11435
https://doi.org/10.1115/IMECE2019-11435
View Paper titled, Analysis and Design of Twin Gyroscopes for Ocean-Wave Energy Converters and Ship Roll-Stabilizers
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Topics: Design, Ocean waves, Power converters, Ships
Proceedings Papers

A Variational Derivation of Equations of Motion With Contact Constraints Using SE(3)

Hidenori Murakami, Takeyuki Ono
Proc. ASME. IMECE2018, Volume 4B: Dynamics, Vibration, and Control, V04BT06A011, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-87126
https://doi.org/10.1115/IMECE2018-87126
View Paper titled, A Variational Derivation of Equations of Motion With Contact Constraints Using SE(3)
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Topics: Equations of motion, Center of mass, Disks, Kinematics, Virtual work principle
Proceedings Papers

Development of Equations of Motion for a Stewart Platform Under Prescribed Mount Motion

Takeyuki Ono, Ryosuke Eto, Junya Yamakawa, Hidenori Murakami
Proc. ASME. IMECE2018, Volume 4B: Dynamics, Vibration, and Control, V04BT06A012, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-87253
https://doi.org/10.1115/IMECE2018-87253
View Paper titled, Development of Equations of Motion for a Stewart Platform Under Prescribed Mount Motion
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Topics: Equations of motion, Kinematics, Manipulators, Crude oil, Dynamics (Mechanics), Real-time control, Robots, Vehicles, Virtual work principle
Proceedings Papers

Modeling and Experimentation of a Ribbed Caudal Fin for Aquatic Robots

Oscar Rios, Ardavan Amini, Hidenori Murakami
Proc. ASME. IMECE2017, Volume 4A: Dynamics, Vibration, and Control, V04AT05A016, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-71235
https://doi.org/10.1115/IMECE2017-71235
View Paper titled, Modeling and Experimentation of a Ribbed Caudal Fin for Aquatic Robots
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Topics: Modeling, Robots, Actuators, Deformation, Shear (Mechanics), Euler-Bernoulli beam theory, Finite element model, Propulsion, Surveillance
Proceedings Papers

Development of a Nonlinear, C 1 -Beam Finite-Element Code for Actuator Design of Slender Flexible Robots

Hidenori Murakami, Oscar Rios, Takeyuki Ono
Proc. ASME. IMECE2017, Volume 4B: Dynamics, Vibration, and Control, V04BT05A014, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-70106
https://doi.org/10.1115/IMECE2017-70106
View Paper titled, Development of a Nonlinear, C 1 -Beam Finite-Element Code for Actuator Design of Slender Flexible Robots
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Topics: Actuators, Design, Finite element analysis, Robots, Shapes, Deformation, Displacement, Engineering simulation, Interpolation, Rotation
Journal Articles

Development of an Active Curved Beam Model—Part I: Kinematics and Integrability Conditions

Hidenori Murakami
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research-Article
J. Appl. Mech. June 2017, 84(6): 061002.
Paper No: JAM-16-1605
https://doi.org/10.1115/1.4036308
Published Online: April 18, 2017
View Articletitled, Development of an Active Curved Beam Model—Part I: Kinematics and Integrability Conditions
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Topics: Deformation, Kinematics, Kinetic energy, Rotation, Tensors
Journal Articles

Development of an Active Curved Beam Model—Part II: Kinetics and Internal Activation

Hidenori Murakami
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research-Article
J. Appl. Mech. June 2017, 84(6): 061003.
Paper No: JAM-16-1606
https://doi.org/10.1115/1.4036317
Published Online: April 18, 2017
View Articletitled, Development of an Active Curved Beam Model—Part II: Kinetics and Internal Activation
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Topics: Deformation, Stress, Virtual work principle, Tensors, Kinematics, Equations of motion
Proceedings Papers

Development of Active Mechanical Models for Flexible Robots to Duplicate the Motion of Inch Worms and Snakes

Oscar Rios, Takeyuki Ono, Hidenori Murakami
Proc. ASME. IMECE2016, Volume 4A: Dynamics, Vibration, and Control, V04AT05A009, November 11–17, 2016
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2016-65550
https://doi.org/10.1115/IMECE2016-65550
View Paper titled, Development of Active Mechanical Models for Flexible Robots to Duplicate the Motion of Inch Worms and Snakes
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Topics: Robots, Robotics, Engineers, Modeling, Muscle, Pneumatic actuators, Tendons
Proceedings Papers

Integrability Conditions in Nonlinear Beam Kinematics

Hidenori Murakami
Proc. ASME. IMECE2016, Volume 4B: Dynamics, Vibration, and Control, V04BT05A068, November 11–17, 2016
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2016-65293
https://doi.org/10.1115/IMECE2016-65293
View Paper titled, Integrability Conditions in Nonlinear Beam Kinematics
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Topics: Kinematics, D'Alembert's principle, Deformation, Equations of motion, Finite element analysis, Hamilton's principle, Manifolds, Rotation
Proceedings Papers

Development of an Active Curved Beam Model Using a Moving Frame Method

Hidenori Murakami
Proc. ASME. IMECE2016, Volume 4B: Dynamics, Vibration, and Control, V04BT05A069, November 11–17, 2016
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2016-65294
https://doi.org/10.1115/IMECE2016-65294
View Paper titled, Development of an Active Curved Beam Model Using a Moving Frame Method
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Topics: Boundary-value problems, Constitutive equations, Cross section (Physics), D'Alembert's principle, Deformation, Equations of motion, Hamilton's principle, Kinematics, Robots, Solids
Proceedings Papers

An Analytical and Geometrical Study of the Dzhanibekov and Tennis Racket Phenomena

Oscar Rios, Takeyuki Ono, Hidenori Murakami, Thomas J. Impelluso
Proc. ASME. IMECE2016, Volume 4A: Dynamics, Vibration, and Control, V04AT05A049, November 11–17, 2016
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2016-65570
https://doi.org/10.1115/IMECE2016-65570
View Paper titled, An Analytical and Geometrical Study of the Dzhanibekov and Tennis Racket Phenomena
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Topics: Computer simulation, Conservation laws (Physics), Inertia (Mechanics), Optical mirrors, Rotation, Rotational inertia, Satellites, Solar energy, Torque, Trajectories (Physics)
Journal Articles

A Theoretical and Numerical Study of the Dzhanibekov and Tennis Racket Phenomena

Hidenori Murakami, Oscar Rios, Thomas Joseph Impelluso
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research-Article
J. Appl. Mech. November 2016, 83(11): 111006.
Paper No: JAM-16-1017
https://doi.org/10.1115/1.4034318
Published Online: September 8, 2016
View Articletitled, A Theoretical and Numerical Study of the Dzhanibekov and Tennis Racket Phenomena
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Topics: Angular momentum, Rotation, Torque, Inertia (Mechanics)
Proceedings Papers

A Mathematical Model of an Active Gyroscopic Roll Stabilizer Using the Moving Frame Method

Oscar Rios, Hidenori Murakami
Proc. ASME. IMECE2015, Volume 6B: Energy, V06BT07A045, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51157
https://doi.org/10.1115/IMECE2015-51157
View Paper titled, A Mathematical Model of an Active Gyroscopic Roll Stabilizer Using the Moving Frame Method
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Topics: Boats, Maintenance, Mathematical analysis, Nonlinear equations, Ocean engineering, Ocean waves, Offshore platforms, Renewable energy, Safety, Seas
Proceedings Papers

A Mathematical Model With Preliminary Experiments of a Gyroscopic Ocean Wave Energy Converter

Hidenori Murakami, Oscar Rios, Ardavan Amini
Proc. ASME. IMECE2015, Volume 6B: Energy, V06BT07A046, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51163
https://doi.org/10.1115/IMECE2015-51163
View Paper titled, A Mathematical Model With Preliminary Experiments of a Gyroscopic Ocean Wave Energy Converter
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Topics: Wave energy, Ocean waves, Energy generation, Waves, Generators, Pollution, Biomass, Design, Equations of motion, Geothermal power
Proceedings Papers

A Moving Frame Method for Multi-Body Dynamics Using SE(3)

Hidenori Murakami
Proc. ASME. IMECE2015, Volume 4B: Dynamics, Vibration, and Control, V04BT04A003, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-51192
https://doi.org/10.1115/IMECE2015-51192
View Paper titled, A Moving Frame Method for Multi-Body Dynamics Using SE(3)
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Topics: Dynamics (Mechanics), Equations of motion, Hamilton's principle, Computation, D'Alembert's principle, Kinematics, Lie algebras, Manipulators, Multibody systems, Variational techniques
Proceedings Papers

A Theoretical and Numerical Study of the Dzhanibekov and Tennis Racket Phenomena

Hidenori Murakami, Oscar Rios, Thomas J. Impelluso
Proc. ASME. IMECE2015, Volume 4A: Dynamics, Vibration, and Control, V04AT04A043, November 13–19, 2015
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2015-52374
https://doi.org/10.1115/IMECE2015-52374
View Paper titled, A Theoretical and Numerical Study of the Dzhanibekov and Tennis Racket Phenomena
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Topics: Angular momentum, Computer simulation, Conservation laws (Physics), Inertia (Mechanics), Rotation, Rotational inertia, Runge-Kutta methods, Space stations, Students, Torque