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Visual servoing towards moving target with hand-eye cameras fixed at a hand of a robot is inevitably affected by the hand's dynamical oscillations, therefore it is difficult to keep target's position always at the center of camera's view, because nonlinear dynamical effects of whole manipulator stand against tracking ability of the visual servoing. One possible solution to overcome this problem is that the visual servoing control of the hand and eye-vergence is separated independently, so that the camera can track the target to observe it at the center of camera images to enhance the tracking ability (trackability). In line with this tactics, the authors have developed an eye-vergence visual servoing control system to enhance the trackability. With several experiments, it has been shown that the trackability of the eye-vergence motion is superior to the one of hand-eye system since the eyes' motion can be quicker than the hand's motion.

An elevator rope for high-rise building is forcibly excited by the displacement of the building caused by earthquakes and wind forces. In high-rise building, the elevator rope may resonate with the natural frequency of the building; hence, effective solution to reduce the rope displacement is demanded. In this paper, a method to suppress the transverse vibration of elevator rope using vertical vibration of counterweight is proposed. Rope lateral vibration is controlled by fluctuating rope tension using up-and-down motion of this counterweight. Finite difference analyses of rope vibration with counterweight are performed to verify the validity of this method. Experiments involving forced vibration of a rope whose length is constant are performed. In the experiments, guide bar is used to suppress the rotation motion of the rope. As a result, rope sway is reduced to about 1/2, when the cage is stopped. The optimal natural frequency of vertical vibration of counterweight is about 2 times of the natural frequency of the rope lateral vibration.

In 1977 the present writer introduced 30 Australian and New Zealand newspaper articles on the Japanese Antarctic Expedition led by Nobu SHIRASE (Nankyoku Shiryo (Antarct. Rec.), 59,177,1977). Recently collected 14 Australian newspaper articles on the expedition, reported between February 1911 and April 1912,are presented; the articles mainly dealt with the behaviour of the expedition while staying in Sydney in 1911.

In addition to 9 meteorites, designated as Yamato meteorites, discovered in December 1969 at the SE end of the Yamato Mountains, East Antarctica, 12 stoney meteorites were found in December 1973 in nearly the same area by the traverse glaciology party of the 14th Japanese Antarctic Research Expedition. Eight pieces among 12 were found at the same site as the 1969 collection and the rest were found on the SW side of the Yamato Mountains. Relatively large 4 samples, weighing between 500 and 900 grams, were designated as Yamato (j), (k), (1), and (m), among which Yamato (1) was achondrite and the rest were chondrites; other 8 samples, weighing 4 to 40 grams, were designated as Yamato (n) to (u) in alphabetical order. Geomorphological and glaciological features of the sampling sites are described, suggesting a further extensive search for more meteorites and glaciological research which may account for the concentration of the meteorites.

Results are presented of spectral analyses of the net snow accumulation, surface and bedrock profiles along the meridian of about 40°E, from Syowa Station to the South Pole, traversed by the Japanese party in 1968-1969. There is a clear trend of increase of the wavelength of the surface maximum amplitude going inland. The prevailing wavelength of the surface undulation increases clearly toward the inland. The "damping factor" or ratio of the bedrock amplitude to the surface amplitude has a minimum when the wavelength of the surface undulation is about 3 or 4 times of the mean ice thickness. The accumulation pattern in the katabatic wind region is strongly influenced by the surface topography on both large and small scales; the maximum accumulation occurs near the ridge and the wind-ward side of slope while the minimum in the trough and lee-wind side.

Thirty men of the wintering party occupied Syowa Station and Mizuho Station from February 1, 1977 to January 31, 1978, carrying out observations in many scientific disciplines, particularly laying emphasis on the upper atmosphere physics in connection with research programs of the International Magnetospheric Study (IMS). At Syowa Station, in addition to the observations of aurora, geomagnetism, ionosphere, meteorology, seismology, marine geomorphology, ocean tide, biology, and medical science, the major research program covers the launching of 6 sounding rockets, reception of data signals from scientific observation satellites, and launching of large balloons to carry out the IMS project. Mizuho Station was continuously occupied by 4 men in rotation so as to carry out observations of upper atmosphere physics, glaciology, and meteorology. An unmanned geophysical observation station "AI" was established at 69°47'S and 41°35'E in January 1977, and the record of geomagnetism, ionospheric absorption, and elimatological elements was obtained.

Summer relief operations of the 14th JARE led by the present author are reviewed, including a description of a new official procedure of appointment of the expedition personnel and expenditures. The icebreaker FUJI, carrying 40 expedition members and 500 tons of cargo and equipped with three helicopters, made a voyage to Syowa Station in Antarctica from 25 November 1972 to 20 April 1973. After calling at Fremantle in Western Australia, the ship reached the offing of Syowa Station on 1 January 1973, and the transportation of cargo by means of helicopters was continued until 12 February. Due to thick many-wintered fast ice, the ship failed to cut the channel to the Station, hence about 27 tons of heavy materials were not delivered. Scientific activities were largely the continuation from previous years; shipboard oceanographic observations, measurements of cosmic-rays intensities and radio wave intensities were carried out throughout the voyage. About a dozen of field research parties were dispatched to the exposed rock areas in the vicinity of Syowa Station, including an oversnow return trip to the Mizuho Camp in the inland. One successful launching of the S210-JA16 sounding rocket was carried out on 15 February. On 20 February the wintering party officially took over the duties, and the ship left the Antarctic on the 24th and returned to Tokyo via Cape Town and Singapore.

During the cruise of the KAINAN MARU (Captain Naokichi NOMURA) of the Japanese Antarctic Expedition led by Lieutenant Nobu SHIRASE in 1910-1912, she called at Wellington twice and Sydney once: Wellington from February 8 to 11, 1911 and from March 23 to April 2, 1912, Sydney from May 1 to November 19, 1911. A total of 30 Australian and New Zealand newspaper articles published mainly during the calls of the ship are collected without annotation. These articles supplement the records of the activities of the Expedition hitherto published, such as the "Nankyoku-ki (official report)" (1913).

The programme of the use of sounding rockets at Syowa Station in Antarctica was proposed by the National Antarctic Committee of the Science Council of Japan. The Polar Research Center, National Science Museum, has taken the responsibility for detailed planning, co-operated by other organizations concerned. The programme has been officially approved by the Promoting Headquarters of the Japanese Antarctic Research Expedition under the direction of the Minister of Education. The rocket range at Syowa Station was inaugurated in January 1969, erecting three buildings, namely, a control centre, a telemetry station, and a rocket assembly shop. Two kinds of rockets, S-160 (peak altitude about 90km) and S-210 (about 120km), were selected to be used in the initial stage of the research programme. In January 1970, a launcher was connected with the assembly shop and necessary equipment was installed for the first test launching of S-160. In February 1970, two test flights for measuring electron density and ozone concentration were successfully accomplished, reaching to an altitude of about 90 km. Future programme of launching six S-210 and one S-160 in the austral winter of 1971 and 1972 is described.

Fourty members of the 8th Japanese Antarctic Research Expedition left Tokyo on December 1, 1966, aboard the icebreaker FUJI The expedition was led by Tetsuya TORII, also leading the wintering party consisting of 24 men, and the author, as deputy-leader, led the summer party of 16 men. On December 22, 1966, the FUJI, under the command of Captain Mitsutoshi MATSUURA, left Fremantle, Western Australia, for Syowa Station, with 182 officers and crew, 40 expedition members, three observers including one American glacial-geologist, and 3 news media personnel. The FUJI carried 460 tons of cargo and was equipped with two Sikorsky S-61A helicopters and one Bell 47GA helicopter. On January 4, 1967, the FUJI reached the ice edge in the offing of the Enderby Land and proceeded southwestward along the edge of fast ice developed along the coast of the Prince Olav Land. On January 7 four flights of helicopters to Syowa Station were made carrying advance personnel and cargo, when the ship anchored at the edge of fast ice, about 50 nautical miles north of the station On the 14th, the ship approached the station and anchored within one kilometer east of the station near the northeast tip of the East Ongul Island Unloading of about 460 tons of materials was finished on the 26th, of which about 30 tons of heavy vehicles and other materials were transported over ice. Oil barrels, building panels, and heavy items were airlifted by underslung cargo net. Fuel for diesel generators was delivered in bulk by means of removable cabin tank in one helicopter in a later period of resupply operation On February 6, the FUJI left the station, taking the same route, and reached the edge of fast ice on the 8th. Eight men of the 8th summer party and 4 men of the 7th wmter-overed party were left at the station to accomplish remaining task. At the noon of February 10, the station was officially turned over to the 8th wintering party, under the witness of Akira MUTO, leader of the 7th wintering party, Captain MATSUURA, and the author. At the beginning of February several field parties were sent by helicopters to the exposed areas in the south of the station, to carry out geological, geographical, biological, glaciological, and geochemical researches. On February 14, the FUJI escaped from the pack ice, some 100 nautical miles from the station, and sailed to the west. Unfavorable weather prevented the vist to the South African SANAE Base on the 22nd. After staying at Cape Town between March 8 and 14th and Colombo between March 30 and April 3, the FUJI returned to Tokyo on April 19 Shipboard scientific programmes were successfully carried out throughout the voyage with the following subjects cosmic rays, night airglow, vertical ionospheric sounding, VLF studies, radio noise measurements, surface and upper-air weather observations, proton magnetometer survey, surface-ship gravimeter survey, seismic profiling, physical and chemical oceanogiaphy, and marine biology

1967年2月上旬の氷状偵察においてリュツォ・ホルム湾北西部に大氷山(約50×70km)を認めたが,その北部と西部の限界は視界不良のため不明であった。これはAmery Ice Shelfから発したものと思われ,外国隊の報告や人工衛星の撮影した写真などから漂流状況や形態などについて二三の考察を試みた。

第10次南極地域観測隊は総員40名で編成され,ここでは28名の越冬隊(ほかに報道記者1名を含む.筆者が隊長兼越冬隊長)の行動概要を示した.1968年11月30日東京港より「ふじ」で出発し,1970年4月8日空路帰国した.本報告は国外の読者も対象としたため観測隊の成立に至る過程,予算,夏期(1968/69年)の行動,昭和基地における生活等の記述が前半を占めている.越冬観測は1969年2月より翌年1月末ごろまでほぼ予定通りに実施された.超高層物理より人体生理に至る15部門の基地観測について略述し,雪氷学を中心とする1,500kmにわたる内陸調査(1969年11月～1970年1月の90日間,総員10名)の結果にも触れた.

The first Symposium on Polar Logistics sponsored by the National Institute of Polar Research was held on March 16–17, 1984. Giving an emphasis on the logistics problems of the Japanese Antarctic Research Expedition, 20 papers are presented coverring the topics on transportation (6 papers), ice engineering (3 papers), energy (3 papers), buildings (4 papers), and Antarctic provisions (4 papers). The present volume contains 13 papers and one abstract, and late papers will be published in the following volume.

1.海氷の分布 北氷洋および南氷洋における海氷の分布は従来の沿岸・船舶・航空機による氷状観測によってかなりの情報が集積した 近年は人工衛星による氷状図も得られている 暗黒期を持つこれらの海域での冬季間の資料は不充分で,とくに南氷洋の資料は夏期でも不充分である 平面的な氷縁の季節変化や海氷分布のみでは正確な海氷量は求められず,氷厚の分布を知ることが今後の課題である 南氷洋では氷山の量を求めることも重要である これらの海氷の地理的性質に関する情報が増すことは,両海洋の氷収支,水収支,熱収支の研究に大いに役立つ 今後は国際的・全地球的な規模において,とくに南氷洋に重点を置いた観測の強化が必要である.2海氷の諸性質 海氷は主として純氷,フライン,ガスより成り,徴生物や土砂も含まれている複雑な物質である 近年基礎的性質についての研究がかなり進んだとはいえ,とくに物理常数を再精測する時期に来ている 化学的性質,とくに大気や海洋との物質交換,また海氷中の生物(とくにプランクトン)についての研究は今後の課題である.とくに南氷洋における現場でのこれらの測定は不充分である.3将来の諸問題 前記2項についての研究を進展させることは広義の極地海洋学への寄与となる 実用面に対しては海氷予報(結氷初日,生長量,融解量,船舶航行可能度,氷の移動(氷丘生成,開水面生成)など)に役立つものとなる.とくに南氷洋においては大気と海洋との物理的・化学的相互作用,南極底層水の生成機構,大陸氷(棚氷も含む)底面での融解などの諸問題が残されている 南氷洋の海氷研究はIGY以後発展しているものであり,北氷洋に比べて歴史が浅く,昭和基地周辺での海氷の研究,海氷下での海洋観測が今後大いに期待される

The article presents a study on the fine particle glass ionomer cements (CIG) for luting. It investigates the setting characteristics of the experimental cements of CIG which include the specific surface of the particle and its disintegration rate. According to the study, the peak time of reaction of the experimental cements using a differential scanning calorimeter were shorter and the surface area of the experimental particle increased as the particle size became smaller.