公开(公告)号：US5526254A

公开(公告)日：1996-06-11

申请号：US193076

申请日：1994-02-04

申请人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama ,  Takashi Uchiyama ,  Fumio Nagashima

发明人： Yuichi Sato ,  Mitsunori Hirata ,  Tsugito Maruyama ,  Takashi Uchiyama ,  Fumio Nagashima

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18

CPC分类号： B25J9/1671

摘要： The present invention relates to a simulation or control method and apparatus for a manipulator apparatus and makes it possible to calculate three-dimensional dynamics of the entire manipulator apparatus on the real time basis using the laws of conservation of momentum/angular momentum of the entire system, reverse dynamics or normal dynamics of a wheel system to display motion of the manipulator apparatus by simulation display on a display (2) and control the manipulator apparatus.

摘要翻译： PCT No.PCT / JP93 / 00751 Sec。 371日期1994年2月4日 102（e）1994年2月4日PCT PCT 1993年6月3日PCT公布。 公开号WO93 / 25355 日期为1993年12月23日。本发明涉及一种用于机械手装置的模拟或控制方法和装置，并且可以使用动量守恒定律实时地计算整个机械手装置的三维动力学 /整个系统的角动量，反向动力学或轮系统的正常动力学，以通过在显示器（2）上的模拟显示来显示机械手装置的运动并且控制机械手装置。

公开(公告)号：US08909503B2

公开(公告)日：2014-12-09

申请号：US13348009

申请日：2012-01-11

申请人： Yuhei Umeda ,  Tsugito Maruyama ,  Hirokazu Anai

发明人： Yuhei Umeda ,  Tsugito Maruyama ,  Hirokazu Anai

IPC分类号： G06F7/60 ,  G06F17/10 ,  G05B13/04

CPC分类号： G06F17/14 ,  G05B13/042 ,  G05B13/048 ,  G06F17/10 ,  G06F17/16 ,  G06F17/5009

摘要： In this disclosure, equations to be solved in the model predictive control are transformed by using an off-line algebraic simplification method into a matrix operational expression representing a product of a coefficient matrix and a vector regarding solution inputs within a control horizon is equal to a function vector regarding target values of output states and the output states. The size of the coefficient matrix is reduced compared with the conventional matrix. Then, the matrix operational expression is solved in an online plant control apparatus with present output states and present target values of the output stats of a plant to be controlled, by the direct method, to output the solution to the plant.

摘要翻译： 在本公开中，通过使用离线代数简化方法将要在模型预测控制中求解的等式变换成表示系数矩阵和关于控制范围内的解输入的向量的乘积的矩阵运算表达式等于 关于输出状态和输出状态的目标值的函数向量。 与常规矩阵相比，系数矩阵的大小减小。 然后，通过直接方法，在具有当前输出状态和要控制的设备的输出状态的当前目标值的在线工厂控制装置中解决矩阵运算表达式，以将该解决方案输出到工厂。

公开(公告)号：US20080312891A1

公开(公告)日：2008-12-18

申请号：US12127407

申请日：2008-05-27

申请人： Tsugito Maruyama ,  Takayuki Kawabe ,  Shinji Hara ,  Keitaro Ohno

发明人： Tsugito Maruyama ,  Takayuki Kawabe ,  Shinji Hara ,  Keitaro Ohno

IPC分类号： G06G7/48

CPC分类号： G05B13/042 ,  G06F17/5009

摘要： A control system is designed in which a controlled plant is controlled based on output feedback from the controlled plant. An all-pass filter is modeled that is formed of a synthesis of a notch filter compensating for a resonance mode in the control system and the resonance mode. A design controlled plant including the all-pass filter is determined. A controller controls the design controlled plant and includes a weighting function, and, after the weighting function is derived, gain of the weighting function is adjusted using desired gain crossover frequency and phase margin. A phase variable included in a phase-lead weight is determined, and thus the weighting function is determined. H∞ loop shaping is applied to the weighting function and the design controlled plant to obtain an H∞ loop controller.

摘要翻译： 设计了一种控制系统，其中受控设备基于受控设备的输出反馈进行控制。 对全通滤波器进行建模，其由在控制系统和谐振模式中的谐振模式补偿的陷波滤波器的合成形成。 确定包括全通滤波器的设计控制设备。 控制器控制设计控制的设备并且包括加权函数，并且在导出加权函数之后，使用期望的增益交叉频率和相位裕度来调整加权函数的增益。 确定包括在相位重量中的相位变量，从而确定加权函数。 H∞环形整形应用于加权函数和设计控制工厂，以获得H∞回路控制器。

公开(公告)号：US20070195443A1

公开(公告)日：2007-08-23

申请号：US11440730

申请日：2006-05-25

申请人： Hiroyuki Suzuki ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Kazuhiko Takaishi ,  Tsugito Maruyama ,  Sumio Kuroda

发明人： Hiroyuki Suzuki ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Kazuhiko Takaishi ,  Tsugito Maruyama ,  Sumio Kuroda

IPC分类号： G11B5/86 ,  G11B21/02

CPC分类号： G11B5/59633 ,  G11B5/86

摘要： A master-disk producing device produces a master disk with master-disk identification information added. A disk producing device produces a first disk with the master-disk identification information added, using the master disk with the master-disk identification information added. A first disk device obtains, after the first disk with the master-disk identification information added is mounted, first correction information from a correction-information storing device based on the master-disk identification information of the first disk.

摘要翻译： 主盘生成装置生成添加有主盘识别信息的主盘。 磁盘产生装置使用添加了主盘识别信息的主盘产生添加有主盘识别信息的第一盘。 第一磁盘装置在安装了添加了主盘识别信息的第一磁盘之后，根据第一磁盘的主盘识别信息，获得来自校正信息存储装置的第一校正信息。

公开(公告)号：US5870494A

公开(公告)日：1999-02-09

申请号：US893256

申请日：1997-07-16

申请人： Shinji Kanda ,  Jun Wakitani ,  Tsugito Maruyama ,  Toshihiko Morita

发明人： Shinji Kanda ,  Jun Wakitani ,  Tsugito Maruyama ,  Toshihiko Morita

IPC分类号： G06K9/46 ,  G06T5/00 ,  G06T5/20 ,  G06T7/00

CPC分类号： G06K9/4633 ,  G06K9/4609 ,  G06T5/20 ,  G06T7/0042 ,  G06T7/0083 ,  G06T7/0085

摘要： A method for determining an orientation of a line segment in a contour in a local area of a binary contour image. The number of pixels having a predetermined value and located in each orientation in the local area, is obtained, and it is determined that a line segment exists in an orientation in which the number of pixels is large. Further, when it is determined that the number of pixels located in each of a plurality of orientations and having a predetermined value, is greater than a sum of the numbers of pixels in orientations adjacent to said each orientation on both sides thereof, it is determined that a line segment exists in said each orientation. Two orientations in which large numbers of pixels are located are detected, and it is determined whether the point is a constituent of a line segment, a line segment of the sub-straight-line form, or a near-corner point, depending on angles made by the two orientations is equal to 180.degree., or a difference of the angles made by the two orientations from 180.degree.. Contiguously arrayed pixels in the same orientation are detected as a line segment. A position and an orientation are obtained from points near a corner, and representative values of the positions and orientations of contiguously arrayed near-corner points are determined. (FIG. 3)

摘要翻译： 一种用于确定二进制轮廓图像的局部区域中的轮廓中的线段的取向的方法。 获得具有预定值并位于局部区域中的每个取向的像素数，并且确定在像素数量大的取向中存在线段。 此外，当确定位于多个取向中的并且具有预定值的每个中的像素的数量大于与其两侧上的所述每个取向相邻的取向中的像素数的总和时，确定 在所述每个取向上存在线段。 检测到其中存在大量像素的两个取向，并且根据角度确定该点是线段，亚直线形式的线段还是近角点的组成 由两个取向制成的角度等于180°，或者两个方向的角度与180°的差。 以相同方向连续排列的像素被检测为线段。 从拐角附近的点获得位置和取向，并且确定连续排列的近角点的位置和取向的代表值。 （图3）

公开(公告)号：US5509090A

公开(公告)日：1996-04-16

申请号：US285441

申请日：1994-08-04

申请人： Tsugito Maruyama ,  Shinji Kanda ,  Jun Wakitani

发明人： Tsugito Maruyama ,  Shinji Kanda ,  Jun Wakitani

IPC分类号： G01B11/25 ,  G01S7/481 ,  G01S17/42 ,  G01S17/89 ,  G06K9/62

CPC分类号： G06T7/0057 ,  G01B11/2527 ,  G01S17/89 ,  G01S17/42 ,  G01S7/481

摘要： A three-dimensional measuring apparatus including a multi-slit projector has an actuator for displacing at least one of first and second diffraction gratings by only a minute distance in a direction perpendicular to the slit lights. An image recognizing apparatus includes an image arithmetic unit for changing, each time a coded multi-slit light pattern is changed, weights assigned to the binarized image signals, and for summing up the last weighted binarized image signals or the image signals of the last added results read out from an image memory, with newly weighted binarized image signals. This improves the image resolution reduces the memory capacity and increases the processing speed.

摘要翻译： 包括多狭缝投影仪的三维测量装置具有用于使第一和第二衍射光栅中的至少一个在垂直于狭缝光的方向上仅移动微小距离的致动器。 图像识别装置包括图像运算单元，用于每次改变编码的多狭缝光图案时，分配给二值化图像信号的权重，以及用于对最后加权的二值化图像信号或最后添加的图像信号 结果从图像存储器读出，具有新加权的二值化图像信号。 这提高了图像分辨率，降低了存储容量并提高了处理速度。

公开(公告)号：US4846576A

公开(公告)日：1989-07-11

申请号：US864846

申请日：1986-05-20

申请人： Tsugito Maruyama ,  Shinji Kanda ,  Keishi Hanahara

发明人： Tsugito Maruyama ,  Shinji Kanda ,  Keishi Hanahara

IPC分类号： G01B11/00 ,  G01B11/03 ,  G01S7/491 ,  G01S17/46

CPC分类号： G01B11/00 ,  G01B11/005 ,  G01S17/46 ,  G01S7/4814 ,  G01S7/491

摘要： A method for measuring a three-dimensional position of an object with a single camera and a multislit light, i.e., a source of multiplanar light beams. A surface of the object is irradiated with multislit lights, i.e., multiplanar light beams, having a plurality of slit light faces and also irradiated with a single standard slit light having a slit light face identical to one of the plurality of slit light faces of the multislit lights. A plurality of slit light photo images corresponding to a plurality of slit light projected images and a standard slit light photo image corresponding to a slit light projected image formed on the object are obtained. One of the slit light photo images which corresponds to the standard slit light photo image is specified and made to correspond, to compute a three-dimensional position of the object in a predetermined coordinate.

摘要翻译： 一种用单个照相机和多光照即多平面光束源测量物体的三维位置的方法。 物体的表面被多光照射，即具有多个狭缝光面的多光束照射，并且还照射具有与所述多个狭缝光面的多个狭缝光面中的一个相同的狭缝光面的单个标准狭缝光 多光照明 获得与多个狭缝光投射图像对应的多个狭缝光照片图像和与形成在物体上的狭缝光投射图像相对应的标准狭缝光照片图像。 指定对应于标准狭缝光照片图像的狭缝光照片图像之一并使其对应，以计算对象在预定坐标中的三维位置。

公开(公告)号：US20100039725A1

公开(公告)日：2010-02-18

申请号：US12605016

申请日：2009-10-23

申请人： Tsugito Maruyama ,  Sumio Kuroda

发明人： Tsugito Maruyama ,  Sumio Kuroda

IPC分类号： G11B27/36 ,  G11B21/02

CPC分类号： G11B20/10009 ,  G11B5/59627 ,  G11B20/1217 ,  G11B2220/2516

摘要： A magnetic storage apparatus has a reproducing head to reproduce information from a perpendicular magnetic recording medium that is recorded with servo information, eccentricity correction data and read/write data. The apparatus further has a filter part to filter a reproduced output of the reproducing head by filtering the servo information which has a differentiated waveform by a non-differentiating characteristic and by filtering the eccentricity correction data and the read/write data which have rectangular waveforms by a differentiating characteristic, a demodulating part to demodulate the servo information, the eccentricity correction data and the read/write data that are filtered by the filter part, and a servo system to carry out a control process including an eccentricity control based on the servo information and the eccentricity correction data that are demodulated.

摘要翻译： 磁存储装置具有用于从记录有伺服信息，偏心校正数据和读/写数据的垂直磁记录介质再现信息的再现头。 该装置还具有滤波器部分，以通过对具有差分波形的非微分特性进行滤波的伺服信息，并通过滤波具有矩形波形的偏心校正数据和读/写数据来过滤再现头的再现输出 微分特性，用于解调伺服信息的解调部分，由滤波部分滤波的偏心校正数据和读/写数据;以及伺服系统，用于执行包括基于伺服信息的偏心控制的控制处理 以及被解调的偏心校正数据。

公开(公告)号：US20090244768A1

公开(公告)日：2009-10-01

申请号：US12268808

申请日：2008-11-11

申请人： Tsugito Maruyama

发明人： Tsugito Maruyama

IPC分类号： G11B5/596

CPC分类号： G11B5/59627

摘要： N groups of servo patterns, each corresponding to the predetermined number of servo sectors, are recorded in a magnetic disk. The magnetic head positioning control apparatus of the present invention produces an RRO current correction table corresponding to each group of servo patters and selects the group of servo patterns that is the best in transferred quality of the sevro pattern as SPopt. For servo sectors (target servo sectors) corresponding to other groups of servo patterns and existing between two adjacent servo sectors corresponding to the SPopt, the magnetic head positioning control apparatus calculates an RRO current correction amount corresponding to the target servo sector by a linear interpolation calculation using the RRO current correction amount corresponding to each of the adjacent servo sectors in the RRO current correction table corresponding to the SPopt to perform the magnetic head positioning control based on the calculated RRO current correction amount.

摘要翻译： 分别对应于预定数量的伺服扇区的N组伺服模式被记录在磁盘中。 本发明的磁头定位控制装置产生对应于每组伺服模式的RRO电流校正表，并选择在sevro模式的传送质量中最好的伺服模式组作为SPopt。 对于对应于其他伺服模式组的伺服扇区（目标伺服扇区），存在于与SPopt对应的两个相邻的伺服扇区之间，磁头定位控制装置通过线性插值计算来计算与目标伺服扇区相对应的RRO当前校正量 使用与对应于SPopt的RRO电流校正表中的每个相邻伺服扇区相对应的RRO电流校正量，基于计算出的RRO电流校正量执行磁头定位控制。

公开(公告)号：US20070206304A1

公开(公告)日：2007-09-06

申请号：US11474837

申请日：2006-06-26

申请人： Kazuhiko Takaishi ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Tsugito Maruyama ,  Hiroyuki Suzuki

发明人： Kazuhiko Takaishi ,  Tomoyoshi Yamada ,  Masanori Fukushi ,  Tsugito Maruyama ,  Hiroyuki Suzuki

IPC分类号： G11B5/86 ,  G11B21/02

CPC分类号： G11B5/59627 ,  G11B5/59688 ,  G11B2020/1282

摘要： A storing unit stores first correction information for correcting a distortion synchronized with a rotation frequency of servo information of a first disk. A control unit controls positioning of a head on a target track by correcting the servo information of the first disk with the first correction information. Measurement information used for measuring the first correction information is calculated based on second correction information for the servo information in other disk apparatus including a second disk on which the servo information is formed using a common master medium with the first disk.

摘要翻译： 存储单元存储用于校正与第一盘的伺服信息的旋转频率同步的失真的第一校正信息。 控制单元通过用第一校正信息校正第一盘的伺服信息来控制头在目标轨道上的定位。 用于测量第一校正信息的测量信息是根据其他磁盘设备中的伺服信息的第二校正信息计算的，该第二校正信息包括使用具有第一盘的公共主介质形成伺服信息的第二盘。