{"id":438,"date":"2024-02-28T18:14:44","date_gmt":"2024-02-28T09:14:44","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/?page_id=438"},"modified":"2024-02-28T20:34:04","modified_gmt":"2024-02-28T11:34:04","slug":"%e5%85%ac%e7%9b%8a%e8%b2%a1%e5%9b%a3%e6%b3%95%e4%ba%bajka%e5%b9%b3%e6%88%9029%e5%b9%b4%e5%ba%a6%e7%a0%94%e7%a9%b6%e8%a3%9c%e5%8a%a9%e3%80%8c%e7%b6%b2%e7%8a%b6%e7%b4%a2%e9%81%93%e8%87%aa%e8%b5%b0","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/%e5%85%ac%e7%9b%8a%e8%b2%a1%e5%9b%a3%e6%b3%95%e4%ba%bajka%e5%b9%b3%e6%88%9029%e5%b9%b4%e5%ba%a6%e7%a0%94%e7%a9%b6%e8%a3%9c%e5%8a%a9%e3%80%8c%e7%b6%b2%e7%8a%b6%e7%b4%a2%e9%81%93%e8%87%aa%e8%b5%b0\/","title":{"rendered":"\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u5e73\u621029\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u69cb\u3068\u69cb\u9020\u53ef\u5909\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u7814\u7a76\u958b\u767a\u300d\u306e\u6982\u8981"},"content":{"rendered":"\n<p>\u203b\u672c\u30da\u30fc\u30b8\u3067\u306f\uff0c\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u5e73\u621029\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u69cb\u3068\u69cb\u9020\u53ef\u5909\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u7814\u7a76\u958b\u767a\u300d\u306e\u6982\u8981\u5e83\u5831\u8cc7\u6599\u3092\u63b2\u8f09\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff11\u3000\u7814\u7a76\u306e\u6982\u8981<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u88dc\u52a9\u4e8b\u696d\u3067\u306f\uff0c\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u4f5c\u696d\uff0c\u898b\u56de\u308a\uff0c\u7269\u8cc7\u904b\u642c\uff0c\u8abf\u67fb\uff0c\u6551\u52a9\u306b\u6709\u7528\u306a\u65b0\u305f\u306a\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u57fa\u790e\u6280\u8853\u3092\u958b\u767a\u3059\u3079\u304f\uff0c\u30af\u30e2\u306e\u5de3\u306e\u3088\u3046\u306b\u76f8\u4e92\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3067\u7a7a\u9593\u7684\u30fb\u66f2\u7dda\u7684\u306b\u67b6\u8a2d\u3055\u308c\u305f\u30b1\u30fc\u30d6\u30eb\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3057\u7a7a\u9593\u5185\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u3068\uff0c\u3053\u308c\u3092\u8907\u6570\u7528\u3044\u3055\u3089\u306b\u3053\u3053\u304b\u3089\u7e70\u308a\u51fa\u3057\u305f\u8907\u6570\u306e\u30b1\u30fc\u30d6\u30eb\u306b\u3088\u308a\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u3092\u99c6\u52d5\u3059\u308b\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3088\u308a\u306a\u308b\uff0c\u4fe1\u983c\u6027\u306e\u9ad8\u304f\u9ad8\u901f\u30fb\u9ad8\u51fa\u529b\u306a\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u958b\u767a\u3059\u308b\u305f\u3081\u306e\u7814\u7a76\u3092\u884c\u3063\u305f\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff12\u3000\u7814\u7a76\u306e\u76ee\u7684\u3068\u80cc\u666f<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u30c9\u30ed\u30fc\u30f3\u3084\u4e0d\u6574\u5730\u8d70\u884c\u30ed\u30dc\u30c3\u30c8\u306e\u6280\u8853\u306e\u9032\u6b69\u306f\u76ee\u899a\u307e\u3057\u3044\u304c\uff0c\u969c\u5bb3\u7269\u306e\u591a\u3044\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306e\u975e\u6574\u5099\u74b0\u5883\u3067\u306e\u904b\u7528\u306f\u589c\u843d\u3084\u30b9\u30bf\u30c3\u30af\u306e\u30ea\u30b9\u30af\u304c\u3042\u308a\u4f9d\u7136\u3068\u3057\u3066\u5bb9\u6613\u3067\u306a\u3044\uff0e\u30ec\u30fc\u30eb\u3092\u6577\u8a2d\u3067\u304d\u308c\u3070\u3053\u3046\u3044\u3063\u305f\u74b0\u5883\u306e\u901a\u884c\u306f\u5bb9\u6613\u3068\u306a\u308b\u304c\uff0c\u6577\u8a2d\u4f5c\u696d\u306f\u5927\u639b\u304b\u308a\u3067\u3042\u308b\uff0e\u5bb9\u6613\u306b\u67b6\u8a2d\u3067\u304d\u308b\u30b1\u30fc\u30d6\u30eb\u3092\u8ecc\u9053\u3068\u3057\u3066\u81ea\u8d70\u3059\u308b\u6a5f\u69cb\u306f\u5b58\u5728\u3059\u308b\u304c\uff0c\u30b1\u30fc\u30d6\u30eb\u306f\u3053\u308c\u304c\u63a5\u7d9a\u3055\u308c\u308b\uff12\u70b9\u9593\u3092\u76f4\u7dda\uff08\u61f8\u5782\u7dda\uff09\u3067\u7d50\u3093\u3067\u3057\u307e\u3046\u305f\u3081\uff0c\u969c\u5bb3\u7269\u306e\u591a\u3044\u72ed\u9698\u306a\u74b0\u5883\u3067\u306f\u4f7f\u7528\u3067\u304d\u306a\u3044\uff0e\u7a7a\u9593\u7684\u30fb\u66f2\u7dda\u7684\u306b\u30b1\u30fc\u30d6\u30eb\u3092\u67b6\u8a2d\u3057\u3053\u308c\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3059\u308b\u81ea\u8d70\u5f0f\u30ed\u30dc\u30c3\u30c8\u304c\u5b9f\u73fe\u3067\u304d\u308c\u3070\uff0c\u5c71\u6797\u5185\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306e\u975e\u6574\u5099\u74b0\u5883\u306b\u304a\u3051\u308b\u7269\u8cc7\u904b\u642c\u3084\u898b\u56de\u308a\u306a\u3069\u306b\u6709\u7528\u3068\u8003\u3048\u3089\u308c\u308b\uff0e<br>\u3000\u307e\u305f\u8fd1\u5e74\u6ce8\u76ee\u3055\u308c\u3066\u3044\u308b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306f\uff0c\u5e83\u3044\u53ef\u52d5\u7bc4\u56f2\u3092\u6301\u3061\u9ad8\u51fa\u529b\u3067\u3042\u308b\u305f\u3081\u707d\u5bb3\u6551\u52a9\u3078\u306e\u5fdc\u7528\u3082\u63d0\u6848\u3055\u308c\u3066\u3044\u308b\u304c\uff0c\u51f8\u591a\u9762\u4f53\u3068\u306a\u308b\u53ef\u52d5\u7bc4\u56f2\u5185\u306b\u969c\u5bb3\u7269\u304c\u3042\u308b\u3068\u30b1\u30fc\u30d6\u30eb\u304c\u63a5\u89e6\u3059\u308b\u305f\u3081\uff0c\u969c\u5bb3\u7269\u306e\u591a\u3044\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306e\u72ed\u9698\u74b0\u5883\u3067\u306e\u4f7f\u7528\u306f\u5b9f\u969b\u306b\u306f\u56f0\u96e3\u3067\u3042\u308b\uff0e\u969c\u5bb3\u7269\u3092\u907f\u3051\u305f\u4efb\u610f\u5f62\u72b6\u306e\u53ef\u52d5\u7bc4\u56f2\u3092\u6301\u3064\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u304c\u5b9f\u73fe\u3067\u304d\u308c\u3070\uff0c\u969c\u5bb3\u7269\u306e\u591a\u3044\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u8abf\u67fb\u3084\u6551\u52a9\uff0c\u4f5c\u696d\u306b\u6709\u7528\u3068\u8003\u3048\u3089\u308c\u308b\uff0e<br>\u3000\u305d\u3053\u3067\u672c\u7814\u7a76\u3067\u306f\uff0c\u30af\u30e2\u306e\u5de3\u306e\u3088\u3046\u306b\u76f8\u4e92\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3067\u7a7a\u9593\u7684\u30fb\u66f2\u7dda\u7684\uff08\u6b63\u78ba\u306b\u306f\u6298\u308c\u7dda\u7684\uff09\u306b\u67b6\u8a2d\u3055\u308c\u305f\u30b1\u30fc\u30d6\u30eb\uff08\u7db2\u72b6\u7d22\u9053\uff0cSpatially-structured cableway\u3068\u547c\u3076\uff09\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3057\u7a7a\u9593\u5185\u3092\u81ea\u8d70\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u3068\uff0c\u3053\u308c\u3092\u8907\u6570\u7528\u3044\u3055\u3089\u306b\u3053\u3053\u304b\u3089\u7e70\u308a\u51fa\u3057\u305f\u8907\u6570\u306e\u30b1\u30fc\u30d6\u30eb\u306b\u3088\u308a\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u3092\u99c6\u52d5\u3059\u308b\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3092\u7740\u60f3\u3057\u305f\uff08\u56f31\uff09\uff0e\u5177\u4f53\u7684\u306b\u306f\u3053\u308c\u3089\u306b\u95a2\u3059\u308b\u4e0b\u8a18\u306e\u7814\u7a76\u958b\u767a\u3092\u884c\u3046\u3053\u3068\u306b\u3088\u308a\uff0c\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u898b\u56de\u308a\uff0c\u7269\u8cc7\u904b\u642c\uff0c\u8abf\u67fb\uff0c\u6551\u52a9\uff0c\u4f5c\u696d\u306b\u6709\u7528\u306a\uff0c\u4fe1\u983c\u6027\u306e\u9ad8\u304f\u9ad8\u901f\u30fb\u9ad8\u51fa\u529b\u306a\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3067\u3042\u308b\u65b0\u305f\u306a\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u57fa\u790e\u6280\u8853\u3092\u958b\u767a\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3059\u308b\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"750\" height=\"327\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a1.png\" alt=\"\" class=\"wp-image-455\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a1.png 750w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a1-300x131.png 300w\" sizes=\"auto, (max-width: 750px) 100vw, 750px\" \/><figcaption class=\"wp-element-caption\">\u56f31\uff0e\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306b\u3088\u308b\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u30ed\u30dc\u30c3\u30c8\u306e\u30b3\u30f3\u30bb\u30d7\u30c8<\/figcaption><\/figure>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff13\u3000\u7814\u7a76\u5185\u5bb9<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u306f\u8907\u6570\u306e\u7814\u7a76\u9805\u76ee\u306b\u5206\u304b\u308c\u3066\u304a\u308a\uff0c\u5404\u9805\u76ee\u306e\u5b9f\u65bd\u5185\u5bb9\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306b\u793a\u3059\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>3.1 <\/strong><strong>\u7db2\u72b6\u7d22\u9053\u8d70\u884c\u6a5f\u69cb\u306e\u958b\u767a<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7db2\u72b6\u7d22\u9053\u3092\u8ecc\u9053\u3068\u3057\u3066\u5229\u7528\u3059\u308b\u306b\u306f\u30b1\u30fc\u30d6\u30eb\u306e\u5206\u5c90\u70b9\u3092\u8d8a\u3048\u3066\u81ea\u8d70\u3059\u308b\u80fd\u529b\u304c\u5fc5\u8981\u3068\u306a\u308b\uff0e\u3053\u306e\u7814\u7a76\u9805\u76ee\u3067\u306f\uff0c\u5206\u5c90\u70b9\u3092\u8d8a\u3048\u3066\u81ea\u8d70\u3067\u304d\u308b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u3068\u5236\u5fa1\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e<br>\u3000\u307e\u305a\uff0c\u3053\u306e\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u80fd\u7684\u8981\u6c42\u306e\u5206\u6790\u3092\u884c\u3044\uff0c\u4ee5\u4e0b\u306e\u6a5f\u80fd\u304c\u5fc5\u8981\u3068\u306a\u308b\u3053\u3068\u3092\u660e\u3089\u304b\u306b\u3057\u305f\uff1a<br>(A)\u3000\u7d50\u3073\u76ee\u3092\u6709\u3059\u308b\u30b1\u30fc\u30d6\u30eb\u3092\u81ea\u8d70\u3059\u308b\u6a5f\u80fd<br>(B)\u3000\u30b1\u30fc\u30d6\u30eb\u306e\u5206\u5c90\u70b9\u306b\u304a\u3044\u3066\u9032\u884c\u65b9\u5411\u3092\u9078\u629e\u3057\uff0c\u9032\u884c\u65b9\u5411\u4ee5\u5916\u306e\u30b1\u30fc\u30d6\u30eb\u306b\u5e72\u6e09\u305b\u305a\u9032\u884c\u3059\u308b\u6a5f\u80fd<br>\u3000\u307e\u305a(A)\u306e\u6a5f\u80fd\u306e\u5b9f\u73fe\u306b\u306f\uff0c\u30b1\u30fc\u30d6\u30eb\u3092\u628a\u6301\u3059\u308b\u90e8\u5206\uff08\u628a\u6301\u90e8\uff09\u306b\uff0c\u30b1\u30fc\u30d6\u30eb\u306e\u5916\u5f84\u306e\u5909\u5316\u306b\u9069\u5fdc\u3059\u308bSelf-Centering\u6a5f\u69cb\u306e\u63a1\u7528\u3092\u5f53\u521d\u691c\u8a0e\u3057\u305f\uff0e\u3057\u304b\u3057\u306a\u304c\u3089\u305d\u306e\u5f8c\u306e\u3055\u3089\u306a\u308b\u691c\u8a0e\u3067\uff0c\u628a\u6301\u90e8\u3092\u6b63\u78ba\u306b\u4e2d\u5fc3\u306b\u4f4d\u7f6e\u6c7a\u3081\u3059\u308b\u5fc5\u8981\u306f\u5fc5\u305a\u3057\u3082\u306a\u3044\u3053\u3068\u304c\u308f\u304b\u3063\u305f\uff0e\u305d\u3053\u3067\u518d\u5ea6\u628a\u6301\u90e8\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u691c\u8a0e\u3057\u305f\u3068\u3053\u308d\uff0c\u4ee5\u4e0b\u306e\u6a5f\u80fd\u304c\u5fc5\u8981\u3068\u306a\u308b\u3053\u3068\u304c\u5206\u304b\u3063\u305f\uff1a<br>(A-1)\u3000\u4e3b\u30b1\u30fc\u30d6\u30eb\u3092\u628a\u6301\u3057\u99c6\u52d5\u3059\u308b\u6a5f\u80fd<br>(A-2)\u3000\u526f\u30b1\u30fc\u30d6\u30eb\u3068\u306e\u5e72\u6e09\u3092\u9632\u3050\u6a5f\u80fd<br>\u3000\u3053\u308c\u3089\u3092\u6e80\u305f\u3059\u6a5f\u69cb\u3068\u3057\u3066\uff0c\u9f13\u5f62\u306e\u65ad\u9762\u3092\u6301\u3064\u30d7\u30fc\u30ea\u3092\u5bfe\u5411\u3055\u305b\u305f\u99c6\u52d5\u6a5f\u69cb\u3092\u6709\u3059\u308b\u628a\u6301\u90e8\u3092\u8003\u6848\u3057\u305f\uff08\u56f32 (a)\uff09\uff0e\u3053\u308c\u306f\u91cd\u529b\u306b\u3088\u308a\u30b1\u30fc\u30d6\u30eb\u3092\u4e00\u5bfe\u306e\u9f13\u5f62\u306e\u30d7\u30fc\u30ea\u3067\u631f\u307f\u8fbc\u3093\u3067\u5782\u76f4\u6297\u529b\u3092\u5897\u3059\u3053\u3068\u3067\u6469\u64e6\u4fc2\u6570\u306e\u4f4e\u3044\u30b1\u30fc\u30d6\u30eb\u306b\u5bfe\u3057\u3066\u3082\u5f37\u3044\u99c6\u52d5\u529b\u3092\u767a\u751f\u3055\u305b\u308b\u3082\u306e\u3067\u3042\u308a\uff0c\u307e\u305f\u30d7\u30fc\u30ea\u5916\u5468\u306b\u526f\u30b1\u30fc\u30d6\u30eb\u306e\u8ef8\u5f84\u3068\u540c\u5f84\u306e\u534a\u5186\u72b6\u306e\u9699\u9593\u3092\u7b49\u9593\u9694\u3067\u8a2d\u3051\u308b\u3053\u3068\u306b\u3088\u308a\uff0c\u4e3b\u30b1\u30fc\u30d6\u30eb\u3092\u78ba\u5b9f\u306b\u628a\u6301\u3057\u306a\u304c\u3089\u526f\u30b1\u30fc\u30d6\u30eb\u3068\u306e\u7d50\u7bc0\u70b9\u3092\u4e57\u308a\u8d8a\u3048\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e<br>\u3000\u6b21\u306b(B)\u306e\u6a5f\u80fd\u306e\u5b9f\u73fe\u306b\u306f\uff0c\u5206\u5c90\u70b9\u306b\u304a\u3044\u3066\u99c6\u52d5\u6a5f\u69cb\u306e\u30d7\u30fc\u30ea\u306e\u9699\u9593\u3092\u526f\u30b1\u30fc\u30d6\u30eb\u65b9\u5411\u306b\u5411\u3051\u308b\u305f\u3081\uff0c\u628a\u6301\u90e8\u3092Roll\u30fbPitch\u30fbYaw\u5404\u8ef8\u56de\u308a\u306b\u56de\u8ee2\u3055\u305b\u308b\u6a5f\u69cb\u304c\u5fc5\u8981\u306b\u306a\u308b\uff0e\u3053\u306e\u969b\u306e\u56de\u8ee2\u4e2d\u5fc3\u306f\u30b1\u30fc\u30d6\u30eb\u5206\u5c90\u70b9\u3068\u306a\u308b\u305f\u3081\uff0cRemote-Center\u6a5f\u69cb\uff08RCM\uff09\u304c\u5fc5\u8981\u306b\u306a\u308b\uff0e\u3053\u308c\u306b\u95a2\u3057\u3066\u306f\u3055\u307e\u3056\u307e\u306a\u539f\u7406\u306e\u6a5f\u69cb\u3067\u5b9f\u73fe\u53ef\u80fd\u3067\u3042\u308b\u304c\uff0c\u5177\u4f53\u7684\u306b\u306f\u5e73\u9762\u6a5f\u69cb\uff0c\u7403\u9762\u30b7\u30ea\u30a2\u30eb\u6a5f\u69cb\uff0c\u7403\u9762\u30d1\u30e9\u30ec\u30eb\u6a5f\u69cb\u306b\u3064\u3044\u3066\uff0c\u53ef\u52d5\u7bc4\u56f2\u306e\u9762\u304b\u3089\u691c\u8a0e\u3092\u884c\u3063\u305f\uff0e\u305d\u306e\u7d50\u679c\u56f32 (b)\u306b\u793a\u30593R\u7403\u9762\u30b7\u30ea\u30a2\u30eb\u6a5f\u69cb\u3092\u63a1\u7528\u3057\uff0c\u8a73\u7d30\u8a2d\u8a08\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u6a5f\u69cb\u306f\u3042\u308b\u4e00\u3064\u306e\u70b9\u3067\u305d\u306e\u56de\u8ee2\u8ef8\u304c\u4ea4\u308f\u308b3\u3064\u306e\u80fd\u52d5\u56de\u8ee2\u5bfe\u5076\u3092\u76f4\u5217\u306b\u63a5\u7d9a\u3057\u305f\u3082\u306e\u3067\uff0c\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u304b\u3089\u3053\u308c\u3092\u4ecb\u3057\u3066\u628a\u6301\u90e8\u3092\u53d6\u308a\u4ed8\u3051\u308b\u3053\u3068\u3067\uff0c\u3042\u3089\u3086\u308b\u65b9\u5411\u306e\u526f\u30b1\u30fc\u30d6\u30eb\u3092\u304b\u308f\u3057\u306a\u304c\u3089\u8d70\u884c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u306b\u306a\u3063\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-23441af8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"385\" height=\"344\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a2.png\" alt=\"\" class=\"wp-image-456\" style=\"width:341px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a2.png 385w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a2-300x268.png 300w\" sizes=\"auto, (max-width: 385px) 100vw, 385px\" \/><figcaption class=\"wp-element-caption\">(a) \u6b6f\u4ed8\u304d\u8eca\u8f2a<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"460\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a3.png\" alt=\"\" class=\"wp-image-457\" style=\"width:297px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a3.png 460w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a3-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a3-150x150.png 150w\" sizes=\"auto, (max-width: 460px) 100vw, 460px\" \/><figcaption class=\"wp-element-caption\">(b) Remote Center Mechanism<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f32\uff0e\u99c6\u52d5\u90e8\u306e\u69cb\u9020<\/p>\n\n\n\n<p>\u3000\u3053\u306e\u628a\u6301\u90e8\u3068RCM\u3092\uff11\u3064\u306e\u307f\u5099\u3048\u308b\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78S\uff08Tokyo Tech Cableway Crawler &#8211; No. 78 Single Arm\uff09\u3092\u958b\u767a\u3057\u305f\uff08\u56f33\uff09\uff0e\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u306f\u30d7\u30fc\u30ea\u99c6\u52d5\u30e2\u30fc\u30bf\u3092\u542b\u30813\u3064\u306e\u30e2\u30fc\u30bf\u306e\u307f\u3067\u69cb\u6210\u53ef\u80fd\u3067\u3042\u308a\uff0c\u5b89\u4fa1\u3067\u30b7\u30f3\u30d7\u30eb\u3067\u3042\u308b\uff0e<br>\u3000TCC78S\u306f\uff0c\u6700\u592752 deg\u306e\u50be\u659c\u30b1\u30fc\u30d6\u30eb\u306e\u6607\u964d\uff0c\u5e73\u9762\u5185\u3067\u306f\u6700\u592780 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\uff0c\u6700\u592737 deg\u306e\u50be\u659c\u3068\u6700\u592775 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"300\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a4-1024x300.png\" alt=\"\" class=\"wp-image-458\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a4-1024x300.png 1024w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a4-300x88.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a4-768x225.png 768w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a4.png 1146w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">(a) \u69cb\u9020<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"450\" height=\"330\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a5.png\" alt=\"\" class=\"wp-image-459\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a5.png 450w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a5-300x220.png 300w\" sizes=\"auto, (max-width: 450px) 100vw, 450px\" \/><figcaption class=\"wp-element-caption\">(b) \u5199\u771f<\/figcaption><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f33\uff0e\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78S<\/p>\n\n\n\n<p>\u3000\u307e\u305f\uff0c\u3053\u306e\u628a\u6301\u90e8\u3068RCM\u3092\u524d\u5f8c\u306b\u4e8c\u3064\u5099\u3048\u308b\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78D\uff08Tokyo Tech Cableway Crawler &#8211; No. 78 Double Arm\uff09\u3092\u958b\u767a\u3057\u305f\uff08\u56f34\uff09\uff0e\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u306f\u7247\u65b9\u304c\u7d50\u7bc0\u70b9\u3092\u4e57\u308a\u8d8a\u3048\u3066\u3044\u308b\u3068\u304d\u306b\u3082\u3082\u3046\u7247\u65b9\u304c\u5b89\u5b9a\u306b\u4e3b\u30b1\u30fc\u30d6\u30eb\u3092\u628a\u6301\u3057\u3066\u99c6\u52d5\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3042\u308a\uff0c\u5b89\u5b9a\u6027\u306b\u512a\u308c\u3066\u3044\u308b\uff0e<br>\u3000TCC78D\u306f\uff0c\u6700\u592772 deg\u306e\u50be\u659c\u30b1\u30fc\u30d6\u30eb\u306e\u6607\u964d\uff0c\u5e73\u9762\u5185\u3067\u306f\u6700\u592785 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\uff0c\u6700\u592748 deg\u306e\u50be\u659c\u3068\u6700\u592763 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"305\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a6-1024x305.png\" alt=\"\" class=\"wp-image-460\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a6-1024x305.png 1024w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a6-300x89.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a6-768x229.png 768w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a6.png 1146w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">(a) \u69cb\u9020<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"450\" height=\"324\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a7.png\" alt=\"\" class=\"wp-image-461\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a7.png 450w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a7-300x216.png 300w\" sizes=\"auto, (max-width: 450px) 100vw, 450px\" \/><figcaption class=\"wp-element-caption\">(b) \u5199\u771f<\/figcaption><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f34\uff0e\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78D<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>3.2 <\/strong><strong>\u7db2\u72b6\u7d22\u9053\u306e\u67b6\u8a2d\u624b\u6cd5\u306e\u958b\u767a<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7d22\u9053\u306f\u3042\u3089\u304b\u3058\u3081\u8a2d\u7f6e\u3055\u308c\u305f\u652f\u67f1\uff08Supporting Pillar\uff09\u3068\uff0c\u652f\u67f1\u9593\u306b\u5f35\u308a\u5de1\u3089\u3055\u308c\u308b\u30b1\u30fc\u30d6\u30eb\u4e0a\u306b\u8a2d\u7f6e\u3055\u308c\u308b\u5206\u5c90\u70b9\uff08Cable Knot\uff09\u306e\u9593\u306b\u8a2d\u5b9a\u3067\u304d\u308b\uff0e\u7d4c\u8def\u751f\u6210\u3067\u306f\u3053\u308c\u3089\u306e\u70b9\u3092\u5168\u3066\u7bc0\u70b9\uff08Node\uff09\u3068\u8a2d\u5b9a\u3057\uff0c\u7bc0\u70b9\u9593\u3092\u7d50\u3076\u7dda\u5206\u3068\u74b0\u5883\u306e\u8ddd\u96e2\u5224\u5b9a\u3059\u308b\u3053\u3068\u306b\u3088\u308a\uff0c\u30b1\u30fc\u30d6\u30eb\u3068\u74b0\u5883\u306e\u63a5\u89e6\u3092\u691c\u51fa\u3067\u304d\u308b\uff0e\u3053\u308c\u3089\u306f\u5e7e\u4f55\u5b66\u7684\u306b\u5224\u5b9a\u53ef\u80fd\u3067\u3042\u308b\uff0e<br>\u3000\u7d22\u9053\u8d70\u884c\u6642\u306e\u30ed\u30dc\u30c3\u30c8\u3068\u74b0\u5883\u3068\u306e\u63a5\u89e6\u306e\u6709\u7121\u306b\u3064\u3044\u3066\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u4f53\u306e\u5927\u304d\u3055\u3092\u8003\u616e\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u4e88\u3081\u8d70\u884c\u53ef\u80fd\u306a\u7d22\u9053\u7d4c\u8def\u3092\u751f\u6210\u3059\u308b\u6642\uff0c\u30ed\u30dc\u30c3\u30c8\u3068\u74b0\u5883\u306e\u63a5\u89e6\u306b\u3064\u3044\u3066\u306f\u9010\u4e00\u5224\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0c\u7d22\u9053\u7d4c\u8def\u306e\u6c7a\u5b9a\u5f8c\u306b\u5225\u9014\u5224\u5b9a\u3059\u308b\u3053\u3068\u304c\u4e00\u822c\u7684\u3067\u3042\u308b\uff0e\u305d\u306e\u305f\u3081\u63a5\u89e6\u304c\u3042\u308b\u305f\u3081\u8d70\u884c\u3067\u304d\u306a\u3044\u7d22\u9053\u306b\u3064\u3044\u3066\u306f\u63a2\u7d22\u7684\u306b\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u672c\u7814\u7a76\u3067\u306f\u3053\u308c\u306b\u5bfe\u3057\u3066Minkowski\u548c\u3092\u7528\u3044\u3066\u74b0\u5883\u5074\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u5927\u304d\u3055\u3092\u4ed8\u4e0e\u3057\uff0c\u7d22\u9053\u7d4c\u8def\u751f\u6210\u6642\u306b\u304a\u3044\u3066\u306f\uff0c\u5927\u304d\u3055\u3092\u6301\u305f\u306a\u3044\u70b9\u3068\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u6271\u3048\u308b\u624b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e\u56f35\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d50\u679c\u3092\u793a\u3059\uff0e(a)\u306b\u793a\u3059\u3088\u3046\u306b\u79fb\u52d5\u3059\u308b\u7d22\u9053\uff08\u56f3\u4e2d\u9ec4\u8272\uff09\u306b\u30ed\u30dc\u30c3\u30c8\uff08\u56f3\u4e2d\u7070\u8272\u56db\u89d2\uff09\u304c\u5b58\u5728\u3059\u308b\u3068\u304d\uff0c\u74b0\u5883\uff08\u56f3\u4e2d\u9752\u8272\uff09\u306b\u63a5\u89e6\u3059\u308b\u304b\u3092\u8003\u3048\u308b\uff0e\u3053\u306e\u3068\u304d\uff0c(b)\u306b\u793a\u3059\u3088\u3046\u30ed\u30dc\u30c3\u30c8\u306e\u5927\u304d\u3055\u5206\u306e\u4f59\u88d5\u3092Minkowski\u548c\u306b\u3088\u308a\u74b0\u5883\u5074\u306b\u4ed8\u4e0e\u3059\u308b\u3053\u3068\u3067\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u4f53\u306f\u70b9\u3068\u3057\u3066\u6271\u3048\u308b\u3088\u3046\u306b\u306a\u308b\uff0e\u3053\u308c\u306b\u3088\u308a\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u5927\u304d\u3055\u3092\u6301\u305f\u306a\u3044\u70b9\u3068\u3057\u3066\u6271\u3048\u308b\u305f\u3081\uff0c\u79fb\u52d5\u4e2d\u306a\u3069\u306e\u30aa\u30f3\u30e9\u30a4\u30f3\u6642\u306b\u304a\u3044\u3066\u306e\u8a08\u7b97\u91cf\u3092\u98db\u8e8d\u7684\u306b\u6e1b\u5c11\u3067\u304d\u308b\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a8.png\" alt=\"\" class=\"wp-image-462\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a8.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a8-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a8-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(a) \u7d22\u9053\u3068\u969c\u5bb3\u7269\u304a\u3088\u3073\u30ed\u30dc\u30c3\u30c8<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a9.png\" alt=\"\" class=\"wp-image-463\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a9.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a9-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a9-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(b) \u30ed\u30dc\u30c3\u30c8\u3092\u70b9\u306b\u5909\u63db\u3057\u305f\u72b6\u614b<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f35. Minkowski\u548c\u306b\u3088\u308b\u30ed\u30dc\u30c3\u30c8\u3068\u74b0\u5883\u306e\u53d6\u6271\u306e\u5909\u63db<\/p>\n\n\n\n<p>\u3000\u52a0\u3048\u3066\uff0c\u969c\u5bb3\u7269\u306a\u3069\u306e\u74b0\u5883\u304c\u4e0e\u3048\u3089\u308c\u305f\u3068\u304d\u7d22\u9053\u3092\u751f\u6210\u3059\u308b\u624b\u6cd5\u304a\u3088\u3073\u52b9\u7387\u306e\u826f\u3044\u79fb\u52d5\u7d4c\u8def\u3092\u751f\u6210\u3059\u308b\u624b\u6cd5\u3092\u958b\u767a\u3057\u305f\uff0e\u56f36\u306e(a)\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u7528\u3044\u308b\u30e9\u30f3\u30c0\u30e0\u306b\u969c\u5bb3\u7269\u3092\u914d\u7f6e\u3057\u305f\u74b0\u5883\u3092\u793a\u3059\uff0e\u672c\u624b\u6cd5\u3067\u306f\u969c\u5bb3\u7269\u3092\u70b9\u3068\u3057\u3066\u6271\u3046\uff0e(b)\u306b(a)\u306e\u74b0\u5883\u306e\u969c\u5bb3\u7269\u3092\u70b9\u3068\u3057\u3066\u8868\u73fe\u3057\u305f\u3082\u306e\u3092\u793a\u3059\uff0e\u672c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u7c21\u5358\u306e\u305f\u3081\uff0c\u969c\u5bb3\u7269\u3092\u5186\u3068\u3057\u3066\u751f\u6210\u3057\uff0c\u305d\u306e\u4e2d\u5fc3\u70b9\u3092\u4ee3\u8868\u70b9\u3068\u3057\u3066\u63a1\u7528\u3057\u305f\uff0e<br>\u3000\u3053\u306e\u969c\u5bb3\u7269\u306e\u70b9\u7fa4\u3092\u542b\u3080\u74b0\u5883\u306b\u7d22\u9053\u3092\u5f35\u308b\uff0e\u7d22\u9053\u306f\u30dc\u30ed\u30ce\u30a4\u56f3\u306b\u57fa\u3065\u3044\u3066\u8a2d\u5b9a\u3059\u308b\uff0e\u30dc\u30ed\u30ce\u30a4\u56f3\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u7d22\u9053\u306f\u3059\u3079\u3066\u306e\u969c\u5bb3\u7269\u304b\u3089\u6700\u3082\u9060\u3044\u70b9\u306e\u96c6\u5408\u3068\u306a\u308b\uff0e\u3059\u306a\u308f\u3061\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u79fb\u52d5\u3059\u308b\u4e0a\u3067\u969c\u5bb3\u7269\u3078\u306e\u63a5\u89e6\u3059\u308b\u5371\u967a\u6027\u3092\u6700\u3082\u6e1b\u3089\u305b\u308b\uff0e(b)\u306e\u74b0\u5883\u306b\u30dc\u30ed\u30ce\u30a4\u56f3\u3092\u9069\u7528\u3057\u305f\u3082\u306e\u3092(c)\u306b\u793a\u3059\uff0e\u307e\u305f\uff0c\u305d\u306e\u4ea4\u70b9\u3092\u5272\u308a\u51fa\u3057\u305f\u3082\u306e\u3092(d)\u306b\u793a\u3059\uff0e\u3053\u306e\u4ea4\u70b9\u304c\u5b9f\u969b\u306b\u306f\u7bc0\u70b9\u3068\u306a\u308a\uff0c\u30b1\u30fc\u30d6\u30eb\u306e\u5206\u5c90\u70b9\u3068\u306a\u308b\uff0e<\/p>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a10.png\" alt=\"\" class=\"wp-image-464\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a10.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a10-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a10-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(a) \u751f\u6210\u3055\u308c\u305f\u969c\u5bb3\u7269<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a11.png\" alt=\"\" class=\"wp-image-465\" style=\"width:313px;height:auto\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a11.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a11-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a11-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(b) \u969c\u5bb3\u7269\u4ee3\u8868\u70b9\u306e\u62bd\u51fa<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-6c531013 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a12.png\" alt=\"\" class=\"wp-image-467\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a12.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a12-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a12-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(c) \u751f\u6210\u3055\u308c\u308b\u7d22\u9053<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"456\" height=\"458\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a13.png\" alt=\"\" class=\"wp-image-468\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a13.png 456w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a13-300x300.png 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/a13-150x150.png 150w\" sizes=\"auto, (max-width: 456px) 100vw, 456px\" \/><figcaption class=\"wp-element-caption\">(d) \u7bc0\u70b9\u306e\u751f\u6210<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"has-text-align-center\">\u56f36. \u30d5\u30a3\u30fc\u30eb\u30c9\u306b\u5408\u308f\u305b\u305f\u7d22\u9053\u306e\u751f\u6210<\/p>\n\n\n\n<p>\u3000\u3053\u306e\u7d22\u9053\u306b\u76ee\u6a19\u70b9\u3092\u8a2d\u5b9a\u3057\uff0c\u305d\u306e\u70b9\u307e\u3067\u52b9\u7387\u3088\u304f\u79fb\u52d5\u53ef\u80fd\u306a\u7d22\u9053\u306e\u7d4c\u8def\u3092\u9078\u629e\u3059\u308b\uff0e\u56f37\u306b\u7d4c\u8def\u306e\u751f\u6210\u3092\u9806\u3092\u304a\u3063\u3066\u793a\u3059\uff0e\u307e\u305a\uff0c\u5bfe\u8c61\u9818\u57df(a)\u306b\u76ee\u6a19\u4f4d\u7f6e\u3092\u8a2d\u5b9a\u3059\u308b\uff0e\u63d0\u6848\u3059\u308b\u30b7\u30b9\u30c6\u30e0\u306f\u30ef\u30a4\u30e4\u7d22\u9053\u4e0a\u3092\u79fb\u52d5\u3059\u308b\u8907\u6570\u53f0\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u56fa\u5b9a\u3055\u308c\u305f\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306b\u3088\u308a\u30bf\u30b9\u30af\u3092\u5b9f\u65bd\u3059\u308b\uff0e\u305d\u3053\u3067\u4efb\u610f\u4f4d\u7f6e\u306b\u76ee\u6a19\u70b9\u3092\u8a2d\u5b9a\u3057\u305f\u6642\uff0c\u305d\u308c\u3092\u5185\u5305\u3059\u308b\u7d22\u9053\u306e\u9589\u30eb\u30fc\u30d7\u69cb\u9020\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u7684\u5730\u304c\u542b\u307e\u308c\u308b\uff0e\u672c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u76ee\u6a19\u70b9\u3092\u5185\u5305\u3059\u308b\u7d22\u9053\u306e\u9589\u30eb\u30fc\u30d7\u69cb\u9020\u5185\u306b\u76ee\u7684\u5730\u3092\u8a2d\u5b9a\u3059\u308b\u305f\u3081\u306b\u76ee\u6a19\u70b9\u306e\u7d22\u9053\u4e0a\u306e\u6700\u8fd1\u70b9\u3092\u76ee\u7684\u5730\u3068\u3059\u308b\uff0e\u305d\u306e\u5f8c\uff0c\u521d\u671f\u4f4d\u7f6e\u3068\u76ee\u7684\u5730\u3092\u7d50\u3076\u76f4\u7dda\u3092\u751f\u6210\u3057\uff0c\u305d\u306e\u76f4\u7dda\u304b\u3089\u6700\u3082\u8fd1\u3044\u7bc0\u70b9\u3092\u7d4c\u8def\u306b\u542b\u3080\u3068\u3059\u308b\uff0e\u3053\u308c\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u6700\u7d42\u7684\u306b\u5168\u3066\u306e\u7d4c\u8def\u304c\u7d22\u9053\u306b\u5408\u81f4\u3059\u308b\u307e\u3067\u7e70\u308a\u8fd4\u3059\uff0e\u56f3\u306e(c)\u304b\u3089(o)\u307e\u3067\u306b\u3053\u308c\u3089\u306e\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u306e\u904e\u7a0b\u3092\u793a\u3059\uff0e\u76f4\u7dda\u3092\u898f\u7bc4\u3068\u3059\u308b\u3053\u3068\u3067\uff0c\u3069\u306e\u30b9\u30c6\u30c3\u30d7\u306e\u304a\u3044\u3066\u3082\u7bc0\u70b9\u9593\u306e\u6700\u77ed\u8ddd\u96e2\u3092\u53d6\u308b\u3053\u3068\u3068\u306a\u308a\uff0c\u6700\u3082\u79fb\u52d5\u8ddd\u96e2\u304c\u77ed\u3044\u7d22\u9053\u7d4c\u8def\u3092\u9078\u629e\u3067\u304d\u308b\u3068\u8a00\u3048\u308b\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-table aligncenter\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-469\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n1.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-470\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n2.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-471\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n3.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-472\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n4.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-473\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n5.png\" alt=\"\"><\/td><\/tr><tr><td>(a) \u5bfe\u8c61\u9818\u57df<\/td><td>(b) \u76ee\u6a19\u306e\u8a2d\u5b9a<\/td><td>(c) 1\u30b9\u30c6\u30c3\u30d7<\/td><td>(d) 2\u30b9\u30c6\u30c3\u30d7<\/td><td>(e) 3\u30b9\u30c6\u30c3\u30d7<\/td><\/tr><tr><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-474\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n6.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-475\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n7.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-476\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n8.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-477\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n9.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-478\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n10.png\" alt=\"\"><\/td><\/tr><tr><td>(f) 4\u30b9\u30c6\u30c3\u30d7<\/td><td>(g) 5\u30b9\u30c6\u30c3\u30d7<\/td><td>(h) 6\u30b9\u30c6\u30c3\u30d7<\/td><td>(i) 7\u30b9\u30c6\u30c3\u30d7<\/td><td>(j) 8\u30b9\u30c6\u30c3\u30d7<\/td><\/tr><tr><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-478\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n10.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-479\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n11.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-480\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n12.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-481\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n13.png\" alt=\"\"><\/td><td><img loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"153\" class=\"wp-image-483\" style=\"width: 150px;\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/n15.png\" alt=\"\"><\/td><\/tr><tr><td>(k) 9\u30b9\u30c6\u30c3\u30d7<\/td><td>(l) 10\u30b9\u30c6\u30c3\u30d7<\/td><td>(m) 11\u30b9\u30c6\u30c3\u30d7<\/td><td>(n) 12\u30b9\u30c6\u30c3\u30d7<\/td><td>(o) 13\u30b9\u30c6\u30c3\u30d7<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56f37. \u6700\u77ed\u7d22\u9053\u79fb\u52d5\u7d4c\u8def\u306e\u751f\u6210<\/p>\n\n\n\n<p>\u3000\u307e\u305f\uff0c\u8907\u6570\u30ef\u30a4\u30e4\u3092\u7db2\u306e\u76ee\u306b\u61f8\u5782\u3059\u308b\u3053\u3068\u3067\u69cb\u7bc9\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u304c\u79fb\u52d5\u3059\u308b\u7d22\u9053\u306b\u3064\u3044\u3066\uff0c\u4e8c\u6b21\u5143\u3067\u7d4c\u8def\u63a2\u7d22\u3059\u308b\u3053\u3068\u3092\u4e09\u6b21\u5143\u306b\u62e1\u5f35\u3059\u3079\u304f\u61f8\u5782\u3055\u308c\u305f\u30ef\u30a4\u30e4\u306e\u61f8\u5782\u66f2\u7dda\u306b\u3064\u3044\u3066\u691c\u8a0e\u3057\u305f\uff0e\u5177\u4f53\u7684\u306b\u306f\uff0c\u5efa\u7bc9\u306a\u3069\u306e\u5206\u91ce\u3067\u30ef\u30a4\u30e4\u306e\u66f2\u7dda\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\u30ab\u30c6\u30ca\u30ea\u66f2\u7dda\u3068\u547c\u3070\u308c\u308b\u7406\u8ad6\u5f0f\u306b\u57fa\u3065\u304d\u8a08\u7b97\u3057\u305f\u66f2\u7dda\u304c\uff0c\u5b9f\u969b\u306b\u61f8\u5782\u3057\u305f\u30ef\u30a4\u30e4\u3092\u3069\u306e\u7a0b\u5ea6\u307e\u3067\u518d\u73fe\u3067\u304d\u308b\u304b\uff0c\u5b9f\u9a13\u3088\u308a\u691c\u8a0e\u3057\u305f\uff0e\u5b9f\u9a13\u306f\u753b\u50cf\u51e6\u7406\u6280\u8853\u3092\u7528\u3044\uff0c\u61f8\u5782\u3057\u305f\u30ef\u30a4\u30e4\u3092\u64ae\u5f71\u30fb\u89e3\u6790\u3057\uff0c\u7406\u8ad6\u5f0f\u304b\u3089\u5c0e\u51fa\u3055\u308c\u308b\u66f2\u7dda\u3068\u306e\u8aa4\u5dee\u3092\u6bd4\u8f03\u3057\u305f\uff0e\u5b9f\u9a13\u3088\u308a\u30ef\u30a4\u30e4\u306e\u7d20\u6750\u306b\u3088\u3063\u3066\u306f\u305d\u306e\u525b\u6027\u3084\u5f3e\u6027\u304b\u3089\u30ab\u30c6\u30ca\u30ea\u66f2\u7dda\u306f\u8aa4\u5dee\u3092\u6301\u3064\u304c\uff0c\u7406\u8ad6\u5f0f\u304b\u3089\u5c0e\u51fa\u3055\u308c\u308b\u66f2\u7dda\u306f\u6982\u306d\u5b9f\u9a13\u7d50\u679c\u3068\u4e00\u81f4\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u3063\u305f\uff0e<br>\u3000\u4eca\u5f8c\u306f\u56fa\u5b9a\u70b9\u304b\u3089\u61f8\u5782\u3055\u308c\u308b\u30ef\u30a4\u30e4\u4e0a\u306b\u7d50\u7bc0\u70b9\u3092\u6301\u3064\u30ef\u30a4\u30e4\uff0c\u3055\u3089\u306b\u305d\u306e\u30ef\u30a4\u30e4\u4e0a\u306b\u7d50\u7bc0\u70b9\u3092\u6301\u3064\u30ef\u30a4\u30e4\u3068\u8907\u5408\u7684\u306b\u7db2\u76ee\u72b6\u306b\u7d22\u9053\u3092\u69cb\u6210\u3055\u308c\u308b\u30ef\u30a4\u30e4\u3092\u5bfe\u8c61\u3068\u3057\uff0c\u30ab\u30c6\u30ca\u30ea\u66f2\u7dda\u3092\u5fdc\u7528\u3057\u305f\u30e2\u30c7\u30eb\u3092\u7528\u3044\u308b\u3053\u3068\u3067\u7d50\u7bc0\u70b9\u4f4d\u7f6e\u60c5\u5831\u304b\u3089\u7d22\u9053\u304c\u5f62\u6210\u3059\u308b\uff13\u6b21\u5143\u5f62\u72b6\u3092\u63a8\u5b9a\u3059\u308b\u30b7\u30b9\u30c6\u30e0\u3068\u3057\u3066\u69cb\u7bc9\u3057\u3066\u3044\u304f\uff0e\u307e\u305f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u7d22\u9053\u4e0a\u306e\u4efb\u610f\u70b9\u306b\u3042\u308b\u3068\u304d\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u91cd\u306b\u3088\u308b\u7b56\u52d5\u5f62\u72b6\u306e\u5909\u5316\u306b\u3064\u3044\u3066\u8b70\u8ad6\u3057\u3066\u3044\u304f\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>3.3 <\/strong><strong>\u8907\u6570\u306e\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306b\u3088\u308b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u958b\u767a<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u8907\u6570\u306e\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u304b\u3089\u3055\u3089\u306b\u30b1\u30fc\u30d6\u30eb\u3092\u7e70\u308a\u51fa\u3057\u3066\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306b\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3067\uff0c\u53ef\u52d5\u7bc4\u56f2\u304c\u51f8\u591a\u9762\u4f53\u3068\u306a\u3089\u305a\u969c\u5bb3\u7269\u3092\u907f\u3051\u305f\u4efb\u610f\u5f62\u72b6\u306e\u53ef\u52d5\u7bc4\u56f2\u3092\u6301\u3064\u69cb\u9020\u53ef\u5909\u578b\u76f4\u5217\u30fb\u4e26\u5217\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u304c\u69cb\u6210\u3067\u304d\u308b\uff0e\u3053\u306e\u30b3\u30f3\u30bb\u30d7\u30c8\u306e\u5b9f\u65bd\u4f8b\u3068\u3057\u3066\uff0c\u3053\u306e\u7814\u7a76\u9805\u76ee\u3067\u306f\uff0c3.1\u3067\u8ff0\u3079\u305f\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u30922\u53f0\u7528\u3044\u305f3\u81ea\u7531\u5ea6\u6a5f\u69cb\u3092\u8a66\u4f5c\u3057\u305f\uff08\u56f38\uff09\uff0e<br>\u3000\u3053\u306e\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u6a5f\u69cb\u306f\uff0c\u7a7a\u9593\u7684\u306b\u69cb\u9020\u5316\u3057\u305f\u7db2\u72b6\u7d22\u9053\u4e0a\u3092\u8d70\u884c\u3059\u308b2\u53f0\u306e\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306b\u305d\u308c\u305e\u308c\u30a6\u30a4\u30f3\u30c1\u3092\u53d6\u308a\u4ed8\u3051\uff0c\u3053\u308c\u3089\u3088\u308a\u7e70\u308a\u51fa\u30592\u672c\u306e\u30b1\u30fc\u30d6\u30eb\u3092\u7528\u3044\u3066\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306e\u4f4d\u7f6e\u6c7a\u3081\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u4eca\u56de\u306e\u8a66\u4f5c\u6a5f\u3067\u306f\u30a8\u30f3\u30c9\u30a8\u30d5\u30a7\u30af\u30bf\u306b\u5168\u5929\u7403\u30ab\u30e1\u30e9\u3092\u642d\u8f09\u3057\uff0c\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u306e\u7db2\u72b6\u7d22\u9053\u4e0a\u306e\u8d70\u884c\u3068\u30b1\u30fc\u30d6\u30eb\u306e\u5dfb\u4e0a\u30fb\u64cd\u51fa\u306b\u3088\u308b\u3053\u308c\u306e\u4f4d\u7f6e\u6c7a\u3081\u3092\u5b9f\u73fe\u3057\uff0c\u672c\u7814\u7a76\u3067\u63d0\u6848\u3059\u308b\u30b3\u30f3\u30bb\u30d7\u30c8\u304c\u5b9f\u73fe\u53ef\u80fd\u3067\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u305f\uff0e<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"575\" src=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f6-1024x575.jpg\" alt=\"\" class=\"wp-image-484\" srcset=\"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f6-1024x575.jpg 1024w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f6-300x169.jpg 300w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f6-768x432.jpg 768w, https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/wp-content\/uploads\/2024\/02\/f6.jpg 1146w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u56f38\uff0e\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u65bd\u4f8b<\/figcaption><\/figure>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff14\u3000\u672c\u7814\u7a76\u304c\u5b9f\u793e\u4f1a\u306b\u3069\u3046\u6d3b\u304b\u3055\u308c\u308b\u304b\u30fc\u5c55\u671b<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u672c\u7814\u7a76\u306e\u6210\u679c\u306f\uff0c\u4e2d\u9577\u671f\u7684\u306b\u306f\uff0c\u5c71\u6797\u5185\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306e\u975e\u6574\u5099\u74b0\u5883\u306b\u304a\u3051\u308b\u7d99\u7d9a\u7684\u306a\u7269\u8cc7\u904b\u642c\u3084\u898b\u56de\u308a\u306a\u3069\u306b\u6709\u7528\u306a\uff0c\u9ad8\u52b9\u7387\u30fb\u9ad8\u901f\u3067\u4fe1\u983c\u6027\u306e\u9ad8\u3044\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u73fe\uff0c\u307e\u305f\u969c\u5bb3\u7269\u306e\u591a\u3044\u81ea\u7136\u74b0\u5883\u3084\u707d\u5bb3\u73fe\u5834\u7b49\u306b\u304a\u3051\u308b\u8abf\u67fb\u3084\u6551\u52a9\uff0c\u4f5c\u696d\u306b\u6709\u7528\u306a\uff0c\u9ad8\u51fa\u529b\u306a\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u5b9f\u73fe\u3068\u3044\u3046\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u3068\u306a\u308b\uff0e\u3053\u308c\u3089\u306e\u6280\u8853\u306f\u707d\u5bb3\u5bfe\u5fdc\u30ed\u30dc\u30c3\u30c8\u3084\u5ec3\u7089\u4f5c\u696d\u30ed\u30dc\u30c3\u30c8\uff0c\u9664\u67d3\u4f5c\u696d\u30ed\u30dc\u30c3\u30c8\uff0c\u81ea\u7136\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\uff0c\u8fb2\u6797\u696d\u7528\u30ed\u30dc\u30c3\u30c8\u306b\u5fdc\u7528\u53ef\u80fd\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u5b9f\u7528\u5316\u306e\u305f\u3081\u306b\u672c\u7814\u7a76\u306e\u6210\u679c\u306f\u4e0d\u53ef\u6b20\u3067\u3042\u308b\uff0e<br>\u3000\u5b9f\u969b\uff0c\u672c\u7814\u7a76\u306e\u6210\u679c\u3092\u8e0f\u307e\u3048\uff0c\u30c6\u30fc\u30de\u3092\u3055\u3089\u306b\u62e1\u5f35\u3057\u65b0\u305f\u306a\u5171\u540c\u7814\u7a76\u8005\u306e\u53c2\u753b\u3082\u542b\u3081\u305f\u7814\u7a76\u8a08\u753b\u30672019-2020\u5e74\u5ea6\u306e\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u7814\u7a76\u88dc\u52a9\u306b\u5fdc\u52df\u3057\uff0c\u4ea4\u4ed8\u6c7a\u5b9a\u3092\u9802\u3044\u3066\u3044\u308b\uff0e\u3053\u308c\u306f\u672c\u7814\u7a76\u306e\u6210\u679c\u3092\u30d9\u30fc\u30b9\u306b\u5c71\u6797\u7b49\u81ea\u7136\u74b0\u5883\u3067\u306e\u7269\u8cc7\u306e\u81ea\u52d5\u904b\u642c\u3084\u74b0\u5883\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u306a\u3069\u306e\u305f\u3081\u306e\u5b9f\u7528\u6280\u8853\u3078\u3068\u30d6\u30e9\u30c3\u30b7\u30e5\u30a2\u30c3\u30d7\u3059\u308b\u8a08\u753b\u3067\u3042\u308a\uff0c\u66f4\u306a\u308b\u6210\u679c\u304c\u671f\u5f85\u3067\u304d\u308b\uff0e<br>\u3000\u307e\u305f\u672c\u7814\u7a76\u306e\u6210\u679c\u306b\u8208\u5473\u3092\u6301\u3063\u3066\u3044\u308b\u4f01\u696d\u3082\u3042\u308a\uff0c\u65e9\u671f\u306e\u5b9f\u7528\u5316\u3082\u671f\u5f85\u3067\u304d\u308b\u3068\u8003\u3048\u3066\u3044\u308b\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff15\u3000\u6559\u6b74\u30fb\u7814\u7a76\u6b74\u306e\u6d41\u308c\u306b\u304a\u3051\u308b\u4eca\u56de\u7814\u7a76\u306e\u4f4d\u7f6e\u3065\u3051<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3000\u7814\u7a76\u4ee3\u8868\u8005\u306e\u83c5\u539f\u96c4\u4ecb\u306f\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u8a2d\u8a08\u5b66\u306e\u69cb\u7bc9\u3068\u5c55\u958b\u3092\u30e9\u30a4\u30d5\u30ef\u30fc\u30af\u3068\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u4e2d\u3067\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u300d\u3068\u300c\u69cb\u9020\u53ef\u5909\u578b\u30cf\u30a4\u30d6\u30ea\u30c3\u30c9\u30ef\u30a4\u30e4\u6a5f\u69cb\u300d\u306f\uff0c\u307e\u3063\u305f\u304f\u65b0\u305f\u306a\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u63d0\u6848\u3092\u884c\u3046\u3068\u3044\u3046\u610f\u5473\u3067\u5927\u304d\u306a\u610f\u5473\u306e\u3042\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u3092\u8ecc\u9053\u4e0a\u3092\u81ea\u8d70\u3059\u308b\u4f5c\u696d\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u5fdc\u7528\u3059\u308b\u30b3\u30f3\u30bb\u30d7\u30c8\u306f\u7279\u306b\uff0c\u30c9\u30ed\u30fc\u30f3\u3084SLAM\u306a\u3069\u6700\u8fd1\u6025\u901f\u306b\u767a\u5c55\u3057\u3066\u304d\u3066\u3044\u308b\u30d5\u30a3\u30fc\u30eb\u30c9\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u5206\u91ce\u306b\u5bfe\u3059\u308b\u30e1\u30ab\u30cb\u30ba\u30e0\u7814\u7a76\u8005\u3068\u3057\u3066\u306e\u6311\u6226\u3067\u3042\u308b\uff0e<br>\u3000\u5171\u540c\u7814\u7a76\u8005\u306e\u9060\u85e4\u592e\u306f\u6301\u7d9a\u53ef\u80fd\u6027\u3092\u30ad\u30fc\u30ef\u30fc\u30c9\u3068\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u6280\u8853\u306e\u5fdc\u7528\u306b\u53d6\u308a\u7d44\u3093\u3067\u304a\u308a\uff0c\u672c\u7814\u7a76\u306f\uff0c\u74b0\u5883\u7b49\u306e\u6301\u7d9a\u53ef\u80fd\u6027\u306b\u95a2\u9023\u3057\u3066\uff0c\u6e56\u6cbc\u3084\u68ee\u6797\u306e\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u7b49\u3078\u306e\u5fdc\u7528\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u30ef\u30a4\u30e4\u306e\u7279\u6027\u306b\u7740\u76ee\u3057\u305f\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u7814\u7a76\u3084\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u30b7\u30b9\u30c6\u30e0\u306e\u7814\u7a76\u306b\u53d6\u308a\u7d44\u3093\u3067\u304a\u308a\uff0c\u57fa\u790e\u7684\u306a\u6280\u8853\u306e\u5fdc\u7528\u5bfe\u8c61\u3068\u3057\u3066\u306e\u6280\u8853\u958b\u767a\u3068\u3057\u3066\u91cd\u8981\u3067\u3042\u308b\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size\"><strong>\uff16\u3000\u672c\u7814\u7a76\u306b\u304b\u304b\u308f\u308b\u77e5\u8ca1\u30fb\u767a\u8868\u8ad6\u6587\u7b49<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u3010\u77e5\u8ca1\u3011<br>\u3000\u7121\u3057\uff081\u4ef6\u3092\u51fa\u9858\u6e96\u5099\u4e2d\uff09<br>\u3010\u8ad6\u6587\u30fb\u56fd\u969b\u4f1a\u8b70\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>1.&nbsp;<\/td><td>Daisuke Matsuura, Taishu Ueki, Yusuke Sugahara, Minoru Yoshida and Yukio Takeda, Reproduction of Long-Period Ground Motion by Cable Driven Earthquake Simulator Based on Computed Torque Method, Proc. of the Fourth International Conference on Cable-Driven Parallel Robots, Krakow, Poland, 2019.\uff08\u5370\u5237\u4e2d\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u3010\u56fd\u5185\u4f1a\u8b70\u4e88\u7a3f\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>2.&nbsp;<\/td><td>Randy Raharja Sudiono, Yusuke Sugahara, Mitsuru Endo, Daisuke Matsuura and Yukio Takeda, Cable Traversing Robots on Spatially Structured Cableway for Reconfigurable Parallel Cable System\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30fb\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2019\uff0c\u5e83\u5cf6\u770c\uff0c2019\u5e746\u6708\uff0e\uff08\u5370\u5237\u4e2d\uff09<\/td><\/tr><tr><td>3.&nbsp;<\/td><td>\u4e0a\u6728\u6cf0\u4fee\uff0c\u677e\u6d66\u5927\u8f14\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u5409\u7530\u7a14\uff0c\u6b66\u7530\u884c\u751f\uff0c\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u5f0f\u5730\u9707\u52d5\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u8a08\u7b97\u30c8\u30eb\u30af\u6cd5\u306b\u3088\u308b\u5236\u5fa1\u3068\u9577\u5468\u671f\u5730\u9707\u52d5\u306e\u518d\u73fe\uff0c\u7b2c36\u56de\u65e5\u672c\u30ed\u30dc\u30c3\u30c8\u5b66\u4f1a\u5b66\u8853\u8b1b\u6f14\u4f1a\u4e88\u7a3f\u96c6\uff0c2K1-04\uff0c\u611b\u77e5\u770c\uff0c2018\u5e749\u6708\uff0e<\/td><\/tr><tr><td>4.&nbsp;<\/td><td>\u8c37\u6ca2\u84bc\u592a\u90ce\uff0c\u76f8\u6a02\u68ee\uff0c\u6e21\u8fba\u6566\u58eb\uff0c\u9060\u85e4\u592e\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u6b66\u85e4\u4f38\u6d0b\uff0c\u67ff\u5d0e\u9686\u592b\uff0c\u5e02\u8ca9\u96fb\u52d5\u30ea\u30fc\u30eb\u3092\u6d3b\u7528\u3057\u305f\u30c8\u30eb\u30af\u8abf\u6574\u5f0f\u9ad8\u51fa\u529b\u30ef\u30a4\u30e4\u30ea\u30fc\u30eb\u30ed\u30dc\u30c3\u30c8\uff0c\u65e5\u672c\u6a5f\u68b0\u5b66\u4f1a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30fb\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u8b1b\u6f14\u4f1a2018\uff0c\u798f\u5ca1\u770c\uff0c2A1-J12\uff0c2018\u5e746\u6708\uff0e<\/td><\/tr><tr><td>5.&nbsp;<\/td><td>\u8c37\u6ca2\u84bc\u592a\u90ce\uff0c\u9060\u85e4\u592e\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u6b66\u85e4\u4f38\u6d0b\uff0c\u67ff\u5d0e\u9686\u592b\uff0c\u61f8\u5782\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306b\u3088\u308b\u4f4d\u7f6e\u6c7a\u3081\u306b\u95a2\u3059\u308b\u7814\u7a76\uff08\u904e\u62d8\u675f\u578b\/\u61f8\u5782\u578b\u306e\u69cb\u6210\u304c\u5909\u66f4\u53ef\u80fd\u306a\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u5b9f\u9a13\u88c5\u7f6e\uff09\uff0c\u7b2c18\u56de\u8a08\u6e2c\u81ea\u52d5\u5236\u5fa1\u5b66\u4f1a\u30b7\u30b9\u30c6\u30e0\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u90e8\u9580\u8b1b\u6f14\u4f1a\uff08SI2017\uff09\uff0c\u5bae\u57ce\u770c\uff0cpp. 557-559\uff0c2017\u5e7412\u6708\uff0e<\/td><\/tr><tr><td>6.&nbsp;<\/td><td>\u76f8\u6a02\u68ee\uff0c\u9060\u85e4\u592e\uff0c\u83c5\u539f\u96c4\u4ecb\uff0c\u6b66\u85e4\u4f38\u6d0b\uff0c\u67ff\u5d0e\u9686\u592b\uff0c\u61f8\u5782\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306b\u3088\u308b\u4f4d\u7f6e\u6c7a\u3081\u306b\u95a2\u3059\u308b\u7814\u7a76\uff08\u30ef\u30a4\u30e4\u306e\u305f\u308b\u307f\u306b\u7740\u76ee\u3057\u305f\u7269\u4f53\u306e\u72b6\u614b\u5224\u5225\uff09\uff0c\u7b2c18\u56de\u8a08\u6e2c\u81ea\u52d5\u5236\u5fa1\u5b66\u4f1a\u30b7\u30b9\u30c6\u30e0\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u90e8\u9580\u8b1b\u6f14\u4f1a\uff08SI2017\uff09\uff0c\u5bae\u57ce\u770c\uff0cpp. 560-563\uff0c2017\u5e7412\u6708\uff0e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u3010\u62db\u5f85\u8b1b\u6f14\u306a\u3069\u3011<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-border-color has-base-border-color\"><tbody><tr><td>7.&nbsp;<\/td><td>\u83c5\u539f\u96c4\u4ecb\uff0c\u677e\u6d66\u5927\u8f14\uff0c\u6b66\u7530\u884c\u751f\uff0c\u9ad8\u7cbe\u5ea6\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u958b\u767a\uff0c\u8fd1\u757f\u5927\u5b66\u5927\u5b66\u9662\u7dcf\u5408\u7406\u5de5\u5b66\u7814\u7a76\u79d1\u5b66\u969b\u7814\u7a76\uff0c\u5927\u962a\u5e9c\uff0c2018\u5e744\u6708\uff0e<\/td><\/tr><tr><td>8.&nbsp;<\/td><td>\u83c5\u539f\u96c4\u4ecb\uff0c\u677e\u6d66\u5927\u8f14\uff0c\u6b66\u7530\u884c\u751f\uff0c\u9ad8\u7cbe\u5ea6\u30d1\u30e9\u30ec\u30eb\u30e1\u30ab\u30cb\u30ba\u30e0\u306e\u958b\u767a\uff0c\u7b2c7\u56de\u53ef\u8996\u8d64\u5916\u7dda\u89b3\u6e2c\u88c5\u7f6e\u6280\u8853\u30ef\u30fc\u30af\u30b7\u30e7\u30c3\u30d7\uff0c\u4eac\u90fd\u5e9c\uff0c2017\u5e7411\u6708\uff0e<\/td><\/tr><tr><td>9.&nbsp;<\/td><td>\u83c5\u539f\u96c4\u4ecb\uff0c\u4eba\u3092\u652f\u63f4\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\uff5e\u8a2d\u8a08\u30fb\u5236\u5fa1\u30fb\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\uff5e\uff0c\u5927\u7530\u533a\u7523\u696d\u632f\u8208\u5354\u4f1a\u7b2c89\u56de\u6771\u4eac\u5de5\u696d\u5927\u5b66\u6280\u8853\u30bb\u30df\u30ca\u30fc\uff0c\u6771\u4eac\u90fd\uff0c2017\u5e748\u6708\uff0e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><strong>\uff17\u3000\u88dc\u52a9\u4e8b\u696d\u306b\u4fc2\u308b\u6210\u679c\u7269<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\uff08\uff11\uff09\u88dc\u52a9\u4e8b\u696d\u306b\u3088\u308a\u4f5c\u6210\u3057\u305f\u3082\u306e<br>\u3000\u7121\u3057<br>\uff08\uff12\uff09\uff08\uff11\uff09\u4ee5\u5916\u3067\u5f53\u4e8b\u696d\u306b\u304a\u3044\u3066\u4f5c\u6210\u3057\u305f\u3082\u306e<br>\u3000\u524d\u8ff0\u306e\u767a\u8868\u8ad6\u6587\u7b49<\/p>\n\n\n\n<p><strong>\uff18\u3000\u4e8b\u696d\u5185\u5bb9\u306b\u3064\u3044\u3066\u306e\u554f\u3044\u5408\u308f\u305b\u5148<\/strong><strong><\/strong><\/p>\n\n\n\n<p>\u6240\u5c5e\u6a5f\u95a2\u540d\uff1a\u6771\u4eac\u5de5\u696d\u5927\u5b66<br>\u3000\u3000\u3000\u3000\u3000\u3000\uff08\u30c8\u30a6\u30ad\u30e7\u30a6\u30b3\u30a6\u30ae\u30e7\u30a6\u30c0\u30a4\u30ac\u30af\uff09<br>\u4f4f\u3000\u3000\u3000\u6240\uff1a\u3012152-8552<br>\u3000\u3000\u3000\u3000\u3000\u3000\u6771\u4eac\u90fd\u76ee\u9ed2\u533a\u5927\u5ca1\u5c71\uff12\uff0d\uff11\uff12\uff0d\uff11\uff08i6-15\uff09<br>\u7533\u3000\u8acb\u3000\u8005\uff1a\u51c6\u6559\u6388\u3000\u83c5\u539f\u96c4\u4ecb\uff08\u30b9\u30ac\u30cf\u30e9\u30e6\u30a6\u30b9\u30b1\uff09<br>\u62c5\u5f53\u90e8\u7f72\uff1a\u3000\u5de5\u5b66\u9662 \u6a5f\u68b0\u7cfb \u6a5f\u80fd\u30b7\u30b9\u30c6\u30e0\u5b66\u5206\u91ce<br>\u3000\u3000\u3000\u3000\u3000\u3000\uff08\u30b3\u30a6\u30ac\u30af\u30a4\u30f3 \u30ad\u30ab\u30a4\u30b1\u30a4 \u30ad\u30ce\u30a6\u30b7\u30b9\u30c6\u30e0\u30ac\u30af\u30d6\u30f3\u30e4\uff09<br>E-mail\uff1a\u3000\u3000sugahara@mech.titech.ac.jp<br>\uff35\uff32\uff2c\uff1a\u3000\u3000http:\/\/www.msd.mech.e.titech.ac.jp\/<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u203b\u672c\u30da\u30fc\u30b8\u3067\u306f\uff0c\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u5e73\u621029\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u6a5f\u69cb\u3068\u69cb\u9020\u53ef\u5909\u578b\u30d1\u30e9\u30ec\u30eb\u30ef\u30a4\u30e4\u6a5f\u69cb\u306e\u7814\u7a76\u958b\u767a\u300d\u306e\u6982\u8981\u5e83\u5831\u8cc7\u6599\u3092\u63b2\u8f09\u3057\u3066\u3044\u307e\u3059\uff0e \uff11\u3000\u7814\u7a76\u306e\u6982\u8981 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(b)\u306b\u793a\u30593R\u7403\u9762\u30b7\u30ea\u30a2\u30eb\u6a5f\u69cb\u3092\u63a1\u7528\u3057\uff0c\u8a73\u7d30\u8a2d\u8a08\u3092\u884c\u3063\u305f\uff0e\u3053\u306e\u6a5f\u69cb\u306f\u3042\u308b\u4e00\u3064\u306e\u70b9\u3067\u305d\u306e\u56de\u8ee2\u8ef8\u304c\u4ea4\u308f\u308b3\u3064\u306e\u80fd\u52d5\u56de\u8ee2\u5bfe\u5076\u3092\u76f4\u5217\u306b\u63a5\u7d9a\u3057\u305f\u3082\u306e\u3067\uff0c\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u304b\u3089\u3053\u308c\u3092\u4ecb\u3057\u3066\u628a\u6301\u90e8\u3092\u53d6\u308a\u4ed8\u3051\u308b\u3053\u3068\u3067\uff0c\u3042\u3089\u3086\u308b\u65b9\u5411\u306e\u526f\u30b1\u30fc\u30d6\u30eb\u3092\u304b\u308f\u3057\u306a\u304c\u3089\u8d70\u884c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u306b\u306a\u3063\u3066\u3044\u308b\uff0e \u56f32\uff0e\u99c6\u52d5\u90e8\u306e\u69cb\u9020 \u3000\u3053\u306e\u628a\u6301\u90e8\u3068RCM\u3092\uff11\u3064\u306e\u307f\u5099\u3048\u308b\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78S\uff08Tokyo Tech Cableway Crawler &#8211; No. 78 Single Arm\uff09\u3092\u958b\u767a\u3057\u305f\uff08\u56f33\uff09\uff0e\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u306f\u30d7\u30fc\u30ea\u99c6\u52d5\u30e2\u30fc\u30bf\u3092\u542b\u30813\u3064\u306e\u30e2\u30fc\u30bf\u306e\u307f\u3067\u69cb\u6210\u53ef\u80fd\u3067\u3042\u308a\uff0c\u5b89\u4fa1\u3067\u30b7\u30f3\u30d7\u30eb\u3067\u3042\u308b\uff0e\u3000TCC78S\u306f\uff0c\u6700\u592752 deg\u306e\u50be\u659c\u30b1\u30fc\u30d6\u30eb\u306e\u6607\u964d\uff0c\u5e73\u9762\u5185\u3067\u306f\u6700\u592780 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\uff0c\u6700\u592737 deg\u306e\u50be\u659c\u3068\u6700\u592775 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\uff0e \u56f33\uff0e\u30b7\u30f3\u30b0\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78S \u3000\u307e\u305f\uff0c\u3053\u306e\u628a\u6301\u90e8\u3068RCM\u3092\u524d\u5f8c\u306b\u4e8c\u3064\u5099\u3048\u308b\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78D\uff08Tokyo Tech Cableway Crawler &#8211; No. 78 Double Arm\uff09\u3092\u958b\u767a\u3057\u305f\uff08\u56f34\uff09\uff0e\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u306f\u7247\u65b9\u304c\u7d50\u7bc0\u70b9\u3092\u4e57\u308a\u8d8a\u3048\u3066\u3044\u308b\u3068\u304d\u306b\u3082\u3082\u3046\u7247\u65b9\u304c\u5b89\u5b9a\u306b\u4e3b\u30b1\u30fc\u30d6\u30eb\u3092\u628a\u6301\u3057\u3066\u99c6\u52d5\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3042\u308a\uff0c\u5b89\u5b9a\u6027\u306b\u512a\u308c\u3066\u3044\u308b\uff0e\u3000TCC78D\u306f\uff0c\u6700\u592772 deg\u306e\u50be\u659c\u30b1\u30fc\u30d6\u30eb\u306e\u6607\u964d\uff0c\u5e73\u9762\u5185\u3067\u306f\u6700\u592785 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\uff0c\u6700\u592748 deg\u306e\u50be\u659c\u3068\u6700\u592763 deg\u306e\u65cb\u56de\u89d2\u3092\u6709\u3059\u308b\u526f\u30b1\u30fc\u30d6\u30eb\u3078\u306e\u9032\u5165\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\uff0e \u56f34\uff0e\u30c0\u30d6\u30eb\u30a2\u30fc\u30e0\u5f0f\u7db2\u72b6\u7d22\u9053\u81ea\u8d70\u30ed\u30dc\u30c3\u30c8TCC78D 3.2 \u7db2\u72b6\u7d22\u9053\u306e\u67b6\u8a2d\u624b\u6cd5\u306e\u958b\u767a \u3000\u7d22\u9053\u306f\u3042\u3089\u304b\u3058\u3081\u8a2d\u7f6e\u3055\u308c\u305f\u652f\u67f1\uff08Supporting Pillar\uff09\u3068\uff0c\u652f\u67f1\u9593\u306b\u5f35\u308a\u5de1\u3089\u3055\u308c\u308b\u30b1\u30fc\u30d6\u30eb\u4e0a\u306b\u8a2d\u7f6e\u3055\u308c\u308b\u5206\u5c90\u70b9\uff08Cable 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