摘要:
A current command value computing section includes an integration control computing section. Based on an integration of the steering torque τ, the integration control computing section computes a steering torque integration control amount Iint*, which is a compensation component for increasing the assist force. The integration control computing section functions as a determining device that determines whether the vehicle is traveling forward in a straight line. When the determining device determines that the vehicle is traveling forward in a straight line, the integration control computing section outputs the steering torque integration control amount Iint* to an adder. The current command value computing section superimposes the steering torque integration control amount Iint* on a basic assist control amount Ias* computed by a basic assist control section, and outputs the obtained value, as a current command value Iq* corresponding to a target assist force, to an output section.
摘要:
A multijointed bending mechanism having a first bending piece, a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft, a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft, at least two first wires connected to the first bending piece to rotate the first bending piece and at least two second wires connected to the second bending piece to rotate the second bending piece. The first wires are disposed inwards of the second wires with respect to a vertical direction of the first and second rotation shafts.
摘要:
Radio devices (31 to 43) receive a prescribed number of Hello packets from each of n radio devices existing within one hop from each radio device, detects six pairs of maximum and minimum values MAX[1] and MIN[1] to MAX[6] and MIN[6] based on the plurality of reception signal strengths of the plurality of received Hello packets, detects two adjacent maximum values having the largest difference among six pairs of maximum and minimum values D_MAX[1] and D_MIN[1] to D_MAX[6] and D_MIN[6] when the six maximum values MAX[1] to MAX[6] are in descending order, and determines the average of two minimum values corresponding to the detected two maximum values as a threshold. The radio devices (31 to 43) each produce a routing table including routes having reception signal strengths equal to or more than the threshold.
摘要:
The route maintenance unit outputs a period setting request to the period setting unit when the communication unit normally receives a Hello packet for the first time. The period setting unit sets a link connection confirmation period in response to the period setting request and outputs the set period to the route maintenance unit. The route maintenance unit maintains a radio link between the radio device in which the route maintenance unit is provided and an adjacent device upon receiving a data packet other than a Hello packet from the adjacent radio device even if a Hello packet is not received in the link connection confirmation period. Consequently, route disconnection or switching occurs less often.
摘要:
The ignition timing is sustained at an initial value during a predetermined time beginning at a start of an engine, and is retarded after the predetermined time is elapsed to heat a catalyst at an early time. The predetermined time ends when the negative pressure of an intake pipe or the negative pressure of a brake booster reaches to a predetermined value. That is, the predetermined time is a period, which begins at a start of the engine and ends when a proper negative pressure can be sustained in the brake booster. As a result, it is possible to assure a negative pressure in the brake booster at an early time and to reduce exhaust emission at a start of the engine simultaneously.
摘要:
A CDMA system includes first and second correlators, a delay buffer, a transmission-line correcting section, and a transmission-line estimating section. The delay buffer is supplied with the data for each symbol extracted from the first correlator to adjust a difference in timing at which the data is output from the first correlator, the difference being caused by a difference in spreading coefficient. The transmission-line correcting section is supplied with an output signal of the delay buffer. The estimating section is supplied with the data for each symbol extracted from the second correlator to obtain a transmission-line response from pilot information and supply transmission-line estimated value information to the transmission-line correcting section using the transmission-line response as an estimated value. The transmission-line correcting section makes a transmission-line correction to the information of the information channel based on the transmission-line estimated value information obtained by the transmission-line estimating section.
摘要:
This invention aims at providing a catalyst body exhibiting a lower degradation of a catalyst due to thermal durability and capable of keeping higher catalyst performance for a long time. A catalyst component such as Pt is directly supported by Zr, W, etc, replacing elements inside a support such as Al of cordierite to provide a catalyst body without forming a coating layer. A combination of the catalyst component and the element inside the support is selected so that support strength is greater than 5 eV by simulation using a density functional method. Coarsening of catalyst particles can be suppressed and a high-performance catalyst body excellent in thermal durability can be obtained.
摘要:
By disposing a plurality of magnetic-field generating elements in the inserted portion of an endoscope, and by detecting it using a magnetic-field detecting unit disposed around the inserted portion, the shape of the inserted portion inserted into a body cavity is detected and it is displayed on a display device. For this purpose, it is determined whether the inserted portion is in an effective detection range in which the insertion portion shape can be detected by a detecting unit with a practicable accuracy, and by changing the display color of the inserted portion shape based on the determination result, it can be easily checked whether the inserted portion is in the effective detection range.
摘要:
An apparatus for detecting a condition of the burning in an internal combustion engine includes a burning-parameter controlling device for controlling a burning parameter operating on the burning in the internal combustion engine. A burning-condition detecting device operates for, in cases where the burning parameter is changed by the burning-parameter controlling device, sampling prescribed information for detecting a burning condition.
摘要:
An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling on digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope and of marker coils. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on which shape of the endoscope depicted is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data based on which marker coils are depicted is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.