Abstract:
A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.
Abstract:
A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H∞ compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.
Abstract:
The present invention provides a cantilever for a scanning type probe microscope, the cantilever including a support portion, a lever portion extending from the support portion, a protrusion portion formed on a free end side of the lever portion, an apex angle of the protrusion portion being an acute angle, and a probe in which a fine wire formed at a distal end of the protrusion portion is coated with a functional film, and a major axis/minor axis ratio of a cross-sectional shape of the probe is smaller than a major axis/minor axis ratio of a cross-sectional shape of the fine wire.
Abstract:
Characteristic data of a relevant component is extracted from a component image captured by camera, and the extracted characteristic data is compared with reference characteristic data of multiple types of component registered in a database to distinguish a type of component for which the two sets of data match most closely. As a result of this, a power spectrum image is created by applying an FFT for each scanning line to a lead presence candidate region corresponding to a candidate for a lead being present in a component image distinguished as an odd form component. Further, an HLAC characteristic is calculated from the power spectrum image in order to extract a periodic characteristic of the power spectrum image, and a connector component with leads is distinguished from an odd form component by learning a characteristic amount of the LAC characteristic using an SVM.
Abstract:
A metallic abrasive pad for use in a smoothing operation applied to a worked surface of a workpiece by a catalyst-supported chemical machining method, the metallic abrasive pad including a compression-formed compact of one or more metal fibers made of a transition-metal catalyst, wherein a contact spot of the one or more metal fibers intersecting each other is sintered, the one or more metal fibers are fixed to each other, and the metallic abrasive pad has a prescribed void ratio.
Abstract:
To provide a photochemical reactor that allows a photochemical reaction to proceed in the atmospheric air. Used is porous glass that is permeable to light in such a wavelength region as to be absorbable by photosensitizer. The porous glass has pores and includes the photosensitizer, electron carrier, and reduction reaction catalyst, each serving as a reaction-involved substance and being disposed in the pores. This allows the interior of the pores of the porous glass to serve as a reaction site for the photochemical reaction and allows the photochemical reaction to proceed in the atmospheric air.
Abstract:
Rebuilding a defected bone by activating the innate self-regeneration ability of bone requires a considerably long period of time. The purpose of the present invention is to provide a bone defect filling material that initiates a bone rebuilding activity as quickly as possible after implantation and thereafter remains in the defect to continue promoting bone formation activity until sufficient bone formation has been achieved for the rebuilding of the defect. The present invention provides a cotton-like bone defect filling material comprising biodegradable fibers produced by electrospinning. The biodegradable fibers contain 40-60 wt % of calcium phosphate particles and 10 wt % or more of silicon-releasing calcium carbonate particles, with the remainder containing 30 wt % or more of poly(L-lactic acid) polymer, and the amount of the poly(L-lactic acid) polymer that is non-crystalline is 75-98%.
Abstract:
An engine ignition system and the like are provided, which reduce a required voltage and improve an ignition performance without any special electrical configuration. An ignition system 3 is configured so that: to an auxiliary electrode 13 is applied a voltage that is not more than a voltage applied between a center electrode 11 and a ground electrode 12 and that generates no spark discharge; the auxiliary electrode 13 is positioned so that an electric field Ef2 between the auxiliary electrode 13 and the ground electrode 12 or an electric field Ef3 between the auxiliary electrode 13 and the center electrode 11, which is generated by the applied voltage, is spread over the gap. A time for applying the voltage to the auxiliary electrode 13 is controlled to include a time for applying the voltage between the center electrode 11 and the ground electrode 12.
Abstract:
Provided is a phthalocyanine derivative of the following general formula (1) which has superior solubility in organic solvents:General formula (1): (wherein M is a hydrogen atom, a metal element, a metalloid element, a metal oxide, a metalloid oxide, a metal hydroxide, a metalloid hydroxide, a metal halide, or a metalloid halide, and R is each independently a hydrogen atom, an alkyl ethyl group, an aryl ether group, an alkyl sulfide group, an aryl sulfide group, or a trifluoromethyl group).