Faculty Profiles - KANDA Takefumi

Papers - KANDA Takefumi

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New hydraulic components for tough robots Reviewed

Koichi Suzumori, Hiroyuki Nabae, Ryo Sakurai, Takefumi Kanda, Sang Ho Hyon, Tohru Ide, Kiyohiro Hioki, Kazu Ito, Kiyoshi Inoue, Yoshiharu Hirota, Akina Yamamoto, Takahiro Ukida, Ryusuke Morita, Morizo Hemmi, Shingo Ohno, Norihisa Seno, Hayato Osaki, Shoki Ofuji, Harutsugu Mizui, Yuki Taniai, Sumihito Tanimoto, Shota Asao, Ahmad Athif Mohd Faudzi, Yohta Yamamoto, Satoshi Tadokoro

Springer Tracts in Advanced Robotics 128 401 - 451 2019

Publishing type：Part of collection (book)

Hydraulic components have tremendous potential for realizing “tough robots” owing to their “tough features,” including high power density and shock resistance, although their practical robotic usage faces some challenges. This chapter explains a series of studies on hydraulic robot components, focusing on high output density, large generative force, shock resistance, and environmental resistance to investigate reducing size, increasing intelligence, lowering weight, achieving multiple degrees of freedom, and lowering sliding friction. The studies are based on past hydraulics technologies with the aim of permitting hydraulic actuator technologies to take important roles in achieving tough robots to operate at disaster sites and under other extreme environments. The studies consist of research and development of compact, lightweight, and high-output actuators; rotating high-torque motors; low-sliding cylinders and motors; power packs; high-output McKibben artificial muscles; particle-excitation-type control valves; hybrid boosters; and hydraulic control systems to be undertaken along with research on their application to tough robots.

DOI： 10.1007/978-3-030-05321-5_8

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Fabrication and Evaluation of Hydraulic Particle Excitation Valve Vibrated Perpendicularly to Direction of Flow Path Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

JFPS International Journal of Fluid Power System 11 ( 2 ) 9 - 17 2018.12

A small three-way valve using particle excitation with piezoelectric transducers for hydraulic actuators Reviewed

Hayato Osaki, Takefumi Kanda, Shoki Ofuji, Norihisa Seno, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

Advanced Robotics 32 ( 9 ) 500 - 510 2018.5

Language：English Publishing type：Research paper (scientific journal) Publisher：Robotics Society of Japan

Robots composed of hydraulic actuators have been utilized in various fields and at disaster sites. However, the hydraulic control system for multiple-degree-of-freedom mechanisms is large because such systems require many control components. The purpose of this research was to develop a small hydraulic flow control valve. This paper describes the fabrication and evaluation of a small three-way valve by particle excitation using a piezoelectric transducer. This valve consists of two transducers and can switch the inlet and outlet ports by applying an AC voltage of different driving frequencies to each transducer because each transducer has different resonant frequencies. The flow rate was controlled by applying a voltage to the piezoelectric transducer. We evaluated the vibration characteristics of the fabricated three-way valve. The vibration velocity exhibited peaks at 120 and 155 kHz for the inlet and outlet port, respectively, and that of each transducer increased with the applied voltage. Therefore, this three-way valve can switch the opening port by changing the driving frequencies and continuously controlling the flow rate. As a result, we have succeeded in driving the novel small three-way valve.

DOI： 10.1080/01691864.2018.1454848

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可変微細構造によるソフトマテリアル表面の接触角制御 Reviewed

森重佳久, 鈴森康一, 神田岳文, 脇元修一

設計工学 53 ( 10 ) 745 - 760 2018

流路に直交方向の加振を利用した油圧微粒子連振型制御弁の試作と評価 Reviewed

浮田貴宏, 鈴森康一, 難波江裕之, 神田岳文

日本フルードパワーシステム学会論文集 49 ( 1 ) 10 - 17 2018

Effect of Pre-emulsion State for a Generation of Nano-emultion by an Ultrasonic Vibration Device Reviewed

kenichi Onishi, Takefumi Kanda, Tsutomu Ono, Shohei Toyota, Yoshihiko Imai, Ken-ici Ogawara, Kazutaka Higaki, Koichi Suzumori

IEEJ Transaction on Sensors and Micromachines 138 ( 9 ) 394 - 400 2018

Fabrication and evaluation of a quench microreactor system for a miniaturization of crystals Reviewed

Nozomu Fujimoto, Takefumi Kanda, Toshiaki Kai, Yusaku Sakata, Yoshiaki Yamada, Norihisa Seno, Yoshiaki Nakazaki, Takafumi Otoyama

IEEJ Transactions on Sensors and Micromachines 138 ( 3 ) 87 - 92 2018

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Institute of Electrical Engineers of Japan

The microreactor has attracted attentions because the microrecter can realise a new phenomenon and a new reaction in the field of micro-chemical process. In this study, a temperature controlled microreactor system using a microchannel of stainless steel and a Peltier device has been developed. In this system, the temperature device made of the microchannel device has been controlled from 8.7°C to 65.8°C. The hot fluid has been quenched successfully. To evaluate the performance of this system, a recrystallization of alum has been used. In this temperature controlled microreactor system, the average particle diameter and standard deviation were 9.2 and 10.1um when air flow rate and solution flow rate were 452 and 2.4ml/min. These results show that the proposed system has realized the miniaturization and uniformization of the alum crystals. As a result, the effectiveness of this system has been indicated.

DOI： 10.1541/ieejsmas.138.87

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Fabrication and Evaluation of Hydraulic Particle Excitation Valve Vibrated Perpedicularly to Direction of Flow Path Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

TRANSACTION OF THE JAPAN FLUID POWER SYSTEM SOCIETY 49 ( 1 ) 10 - 17 2018

Optimization of orifice position in particle-excitation valve for proportional flow control Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

ROBOMECH Journal 4 ( 1 ) 1 - 11 2017.12

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

This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, and has the following advantages: small size, lightweight, high response and continuous airflow control. However, in our previous models, the relationship between the driving voltage and the flow quantity was nonlinear. In this report, we improved the valve to realize proportional flow control. The valve consists of the orifice plate, that has some orifices, and steel particles to seal the orifices and piezoelectric transducer. It controls air flow by the voltage applied to the transducer. For proportional flow control, it is important to adjust the orifice position adequately. In this report, we optimized the orifice position, considering resonance condition of the valve. We designed the experimental prototype using a bolt-clamped Langevin type transducer and decided orifice position. And we evaluated its vibration properties and flow-rate characteristics. The experimental results showed that our designed prototype can proportionally control airflow.

DOI： 10.1186/s40648-017-0093-3

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Nanoparticles generation system using an ultrasonic torsional transducer Reviewed

Nozomu Fujimoto, Takefumi Kanda

IEEE International Ultrasonics Symposium, IUS 2017.10

Language：English Publishing type：Research paper (international conference proceedings) Publisher：IEEE Computer Society

Nanoparticles have been required in the fields such as medicine, foods and electronic materials. By re-crystallization process, nanoparticles can be formed by quenching a solution. We have generated mono-disperse droplets by using a torsional bolt-clamped Langevin-type transducer and a micropore plate to form fine nanoparticles by quenching the droplets.

DOI： 10.1109/ULTSYM.2017.8092016

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Particle-excitation flow-control valve using piezo vibration-improvement for a high flow rate and research on controllability Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

IEEJ Transactions on Sensors and Micromachines 137 ( 1 ) 32 - 37 2017

Language：English Publishing type：Research paper (scientific journal) Publisher：Institute of Electrical Engineers of Japan

This paper describes an improved particle-excitation flow-control valve with high flow rate and controllability. The proposed control valve has a small volume, is lightweight, and can smoothly control the airflow through particle excitation. Pneumatic actuators, which have many advantages, are widely used in automation machine equipment and are expected to be used in robots. In general, such highly controllable pneumatic-control devices used as proportional valves are large-scale, heavy, and exhibit low response. We have developed a new flow-control valve called a particle-excitation flow-control valve, which has a simple structure with a lead zirconium titanate (PZT) resonance mode, large control-flow rate, and is lightweight. Further, this valve is expected to be highly responsive because it is driven by a PZT vibrator. In this study, we designed an experimental prototype to increase the maximum flow rate and measured its flow control and response characteristics. Moreover, we showed that this control valve has high controllability and control flow rate.

DOI： 10.1541/ieejsmas.137.32

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Analysis of Flow Control Valve in Hydraulic System using Particle Excitation Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

The Japan Fluid Power System Society 2C12(1)-2C12(8) 2017

Hydraulic Control by Flow Control Valve Using PArticle Excitation Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA, Shoki OFUJI

JFPS International Journal of Fluid Power System 10 ( 3 ) 38 - 46 2017

Development of a gas/liquid phase change actuator for high temperatures Reviewed

Hiroki Matsuoka, Koichi Suzumori, Takefumi Kanda

ROBOMECH Journal 3 ( 1 ) 1 - 7 2016.12

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

Gas/liquid phase changes produce large volume changes in working fluids. These volume changes are used as the driving power sources in actuators such as micro-pumps and valves. Most of these actuators are utilized in ordinary temperature environments. However, the temperature range in which the phase change actuator can operate depends on the characteristics of the working fluid. We hypothesized that proper selection of the working fluid and the structure of the actuator can enable such actuators to be applied not only in ordinary environments but also in high temperature environments. Consequently, in this paper, we discuss the design and fabrication of a new gas/liquid phase change actuator for use in high temperature environments. Our proposed actuator consists of a bellow body, spring, heater, and working fluid. We used the Inconel super alloy, which is highly heat and corrosion resistant, for the bellow and moving parts of the actuator. For the working fluid, we prepared triethylene glycol, which has a boiling point of 287.3 °C and very low vapor pressure at ordinary temperature. As a result, our proposed actuator can be utilized in high temperature environments up to 300.0 °C. The results of several experiments conducted confirm that our proposed actuator generates 1.67 mm maximum displacement in a 300.0 °C atmospheric environment. In addition, we confirmed that the operation of the actuator is stable in that environment. Our results confirm that a gas/liquid phase change actuator can be used in high temperature environments.

DOI： 10.1186/s40648-016-0041-7

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Production of nanoemulsion using a microchannel device oscillated by piezoelectric transducer Invited Reviewed

Takefumi Kanda

16th International Conference on Nanotechnology - IEEE NANO 2016 718 - 719 2016.11

Language：English Publishing type：Research paper (international conference proceedings) Publisher：Institute of Electrical and Electronics Engineers Inc.

An ultrasonic emulsification device has been fabricated and evaluated. The device is for the generation of nano-sized droplets for drags and consists of a piezoelectric device and metal plates. Microchannel plates made of stainless steel has been used for the device. The oscillation frequency was over 2 MHz and sub-micron size droplets has been obtained successfully. Additionally, the state in the microchannel has been evaluated using a micro cavitation sensor installed in the channel.

DOI： 10.1109/NANO.2016.7751382

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Piezoelectric Transducer Design for Particle Excitation Hydraulic Control Valve Reviewed

Takahiro Ukida, Koichi Suzumori, Hiroyuki Nabae, Takefumi Kanda

Proceedings of Symposium on Ultrasonic Electronics Vol. 37 2016.11

Special issue on innovative actuators Reviewed

Takeshi Morita, Takefumi Kanda, Kenjiro Takemura

International Journal of Automation Technology 10 ( 4 ) 469 2016.7

A piezoelectric polymer cavitation sensor installed in an emulsion generation microchannel device and an evaluation of cavitation state Reviewed

Takefumi Kanda, Masaki Yabumoto, Koichi Suzumori

JAPANESE JOURNAL OF APPLIED PHYSICS 55 ( 7 ) 07KE07-1-07KE07-6 2016.7

Language：English Publishing type：Research paper (scientific journal) Publisher：IOP PUBLISHING LTD

In previous works, ultrasonic emulsification was realized using small microchannel devices oscillated by piezoelectric transducers. By using the devices, the emulsification in the flow process was also realized. In these devices, the driving frequency was higher than 2 MHz. This value is higher than the maximum audible field. On the other hand, the frequency is too high to utilize the cavitation effect. This is because the cavitation threshold depends on the frequency. The aim of this study is to confirm the cavitation state in the microchannel device using a piezoelectric polymer sensor. A micropatterned cavitation detection sensor has been fabricated by a photolithography technique and evaluated in a high-intensity ultrasound field. The emulsification state in the microchannel device has been evaluated using the fabricated sensor. (C) 2016 The Japan Society of Applied Physics

DOI： 10.7567/JJAP.55.07KE07

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Water flow control valve using particle excitation

Ofuji Shoki, Kanda Takefumi, Seno Norihisa, Suzumori Koichi, Ukida Takahiro, Nabae Hiroyuki

Proceedings of JSPE Semestrial Meeting 2016 385 - 386 2016

Development of a rubber soft actuator driven with gas/liquid phase change Reviewed

Hiroki Matsuoka, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, Pierre Lambert

International Journal of Automation Technology 10 ( 4 ) 517 - 524 2016

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Papers - KANDA Takefumi