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公开(公告)号：US08380348B2
公开(公告)日：2013-02-19
申请号：US12812189
申请日：2009-01-13
申请人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
发明人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
IPC分类号： G06F19/00
CPC分类号： B25J19/005 , G05D1/0891 , H01M2/1022 , H01M10/42 , H01M10/46 , H02J7/0045
摘要： Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
摘要翻译： 考虑到执行涉及与目标对象的交互的指定任务，能够适当地调整主体的位置等的机器人。 当根据第二目标路径控制主体（10）的位置和姿势时，机器人（1）从第一指定区域移动到第二指定区域并且站在那里。 在该状态下，确定第二位置偏差（=主体与第二目标路径的位置的偏差）和第二姿势偏差（=主体的姿势与第二目标姿态的偏差）。 根据确定结果，校正第二目标路径，使得随后的位置偏差等可以更小。
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公开(公告)号：US08355224B2
公开(公告)日：2013-01-15
申请号：US12011904
申请日：2008-01-29
申请人： Satoru Okamoto , Koji Okazaki , Shuuichi Kojima , Nobuo Yoshida , Katsuro Watanabe , Hiroyuki Katada
发明人： Satoru Okamoto , Koji Okazaki , Shuuichi Kojima , Nobuo Yoshida , Katsuro Watanabe , Hiroyuki Katada
IPC分类号： G11B5/33
CPC分类号： G11B5/398 , B82Y25/00 , G01R33/093 , G11B5/3163 , H01L43/08
摘要： Embodiments of the present invention help to prevent a head characteristic from being deteriorated by re-deposition or damage which occurs when a sensor film is etched, a track width is narrowed, and the head characteristic is stabilized. According to one embodiment, when it is assumed that the thickness of the sensor film on an air bearing surface is T, and a distance between an end of a medium layer that is interposed between a free layer and a pinned layer which comprise the sensor film and an end of the sensor film lowest portion, a relationship of 1.2×T≦X≦2.5×T is satisfied, and the ends of a pair of magnetic films which are in contact with both sides in the track-width direction through an insulator do not exist in the track central portion from the free layer end. The sensor film is etched while an incident angle of an etching beam is changed over, and when it is assumed that a direction normal to the sensor film surface is the incident angle of 0, etching is conducted under the condition where the incident angle of the etching beam becomes smaller with time.
摘要翻译： 本发明的实施例有助于通过在传感器膜被蚀刻，轨道宽度变窄并且头部特性稳定时发生的再沉积或损伤来防止头部特性劣化。 根据一个实施例，当假设空气轴承表面上的传感器膜的厚度为T时，介于介于包含传感器膜的自由层和被钉扎层之间的介质层的端部之间的距离 和传感器膜最低部分的一端，满足1.2×T＆nlE; X＆nlE; 2.5×T的关系，并且通过绝缘体在轨道宽度方向上与两侧接触的一对磁性膜的端部 不存在于自由层末端的轨道中心部分。 在蚀刻光束的入射角变化的同时蚀刻传感器膜，并且当假定与传感器膜表面垂直的方向为入射角为0时，在其入射角 刻蚀光束随时间变小。
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公开(公告)号：US20100286823A1
公开(公告)日：2010-11-11
申请号：US12812189
申请日：2009-01-13
申请人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
发明人： Norio Neki , Koji Okazaki , Takashi Nakayama , Masaaki Muromachi , Satoshi Kaneko , Yuta Kimura
IPC分类号： G06F19/00
CPC分类号： B25J19/005 , G05D1/0891 , H01M2/1022 , H01M10/42 , H01M10/46 , H02J7/0045
摘要： Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
摘要翻译： 考虑到执行涉及与目标对象的交互的指定任务，能够适当地调整主体的位置等的机器人。 当根据第二目标路径控制主体（10）的位置和姿势时，机器人（1）从第一指定区域移动到第二指定区域并且站在那里。 在该状态下，确定第二位置偏差（=主体与第二目标路径的位置的偏差）和第二姿势偏差（=主体的姿势与第二目标姿态的偏差）。 根据确定结果，校正第二目标路径，使得随后的位置偏差等可以更小。
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公开(公告)号：US07642745B2
公开(公告)日：2010-01-05
申请号：US12059237
申请日：2008-03-31
申请人： Satoshi Kaneko , Koji Okazaki , Norio Neki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
发明人： Satoshi Kaneko , Koji Okazaki , Norio Neki , Hiroyuki Makino , Takashi Nakayama , Masaaki Muromachi
IPC分类号： H02J7/00
CPC分类号： B25J19/005 , H01M10/44 , H01M10/46
摘要： An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.
摘要翻译： 提供一种能够对安装在机器人上的电池进行充电的装置，同时允许机器人保持稳定地处于其腿部的状态。 在与第二连接器连接的同时向后驱动第一连接器将导致机器人的主体倾斜，好像被第一连接器拉动。 然而，通过利用第一信号端子和第二信号端子的连接状态保持在该状态的事实，可以防止机器人的姿势变得不稳定。 当充电控制单元能够经由第一信号端子和第二信号端子与控制系统通信时，第一连接器的反向驱动受到限制。 这防止了由于第一连接器无条件地向后驱动而使机器人的姿势变得不稳定的不期望的事件。
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公开(公告)号：US20090149995A1
公开(公告)日：2009-06-11
申请号：US12327263
申请日：2008-12-03
申请人： Satoshi Kaneko , Takashi Nakayama , Koji Okazaki , Yuta Kimura
发明人： Satoshi Kaneko , Takashi Nakayama , Koji Okazaki , Yuta Kimura
CPC分类号： H02J7/0042 , B25J19/005 , H02G11/00
摘要： A charging apparatus for a mobile robot enabling the mobile robot to move relatively freely even during charging using a wiring member, while preventing occurrence of an inconvenience such as damage to the wiring member, is provided. The charging apparatus includes a charging power source, a control board which controls the charging power source, and a wiring members for use in supplying electric power from the charging power source to a battery mounted on the mobile robot. The wiring member connected to the mobile robot to follow the movement of the robot. The charging apparatus further includes a detector which detects tension applied to the wiring member. When the wiring members is pulled, an appropriate measure to stop the mobile robot or disconnect the wiring member from the robot is taken in accordance with a signal from the tension detector.
摘要翻译： 提供一种移动机器人的充电装置，其能够使移动机器人即使在使用布线构件的充电期间相对自由地移动，同时防止诸如损坏布线构件的不便的发生。 充电装置包括充电电源，控制充电电源的控制板以及用于从充电电源向安装在移动机器人上的电池供电的配线构件。 连接到移动机器人的接线部件跟随机器人的移动。 充电装置还包括检测器，其检测施加到布线构件的张力。 当拉线时，根据来自张力检测器的信号，采取适当的措施来停止移动机器人或从机器人断开配线部件。
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6.发明申请Sensor shape and etching process of CPP magnetic head for reduce property degradation 有权CPP磁头的传感器形状和蚀刻工艺，用于降低性能下降公开(公告)号：US20090046394A1
公开(公告)日：2009-02-19
申请号：US12011904
申请日：2008-01-29
申请人： Satoru Okamoto , Koji Okazaki , Shuuichi Kojima , Nobuo Yoshida , Katsuro Watanabe , Hiroyuki Katada
发明人： Satoru Okamoto , Koji Okazaki , Shuuichi Kojima , Nobuo Yoshida , Katsuro Watanabe , Hiroyuki Katada
CPC分类号： G11B5/398 , B82Y25/00 , G01R33/093 , G11B5/3163 , H01L43/08
摘要： Embodiments of the present invention help to prevent a head characteristic from being deteriorated by re-deposition or damage which occurs when a sensor film is etched, a track width is narrowed, and the head characteristic is stabilized. According to one embodiment, when it is assumed that the thickness of the sensor film on an air bearing surface is T, and a distance between an end of a medium layer that is interposed between a free layer and a pinned layer which comprise the sensor film and an end of the sensor film lowest portion, a relationship of 1.2×T≦x≦2.5×T is satisfied, and the ends of a pair of magnetic films which are in contact with both sides in the track-width direction through an insulator do not exist in the track central portion from the free layer end. The sensor film is etched while an incident angle of an etching beam is changed over, and when it is assumed that a direction normal to the sensor film surface is the incident angle of 0, etching is conducted under the condition where the incident angle of the etching beam becomes smaller with time.
摘要翻译： 本发明的实施例有助于通过在传感器膜被蚀刻，轨道宽度变窄并且头部特性稳定时发生的再沉积或损伤来防止头部特性劣化。 根据一个实施例，当假设空气轴承表面上的传感器膜的厚度为T时，介于介于包含传感器膜的自由层和被钉扎层之间的介质层的端部之间的距离 和传感器膜最低部分的端部，满足1.2×T <= x <= 2.5×T的关系，并且通过绝缘体在轨道宽度方向上与两侧接触的一对磁性膜的端部 不存在于自由层末端的轨道中心部分。 在蚀刻光束的入射角变化的同时蚀刻传感器膜，并且当假定与传感器膜表面垂直的方向为入射角为0时，在其入射角 刻蚀光束随时间变小。
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7.发明授权公开(公告)号：US07468870B2
公开(公告)日：2008-12-23
申请号：US11317881
申请日：2005-12-22
IPC分类号： G11B5/39
CPC分类号： G11B5/3912 , B82Y25/00 , G01R33/093 , G11B5/3932
摘要： Making thinner the magnetic domain control layer deteriorates the magnetic properties. Also, disturbances tend to increase the magnetization dispersion of the magnetic domain control layer, thereby lowering the magnetic domain control bias magnetic field. In one embodiment of the invention, a first magnetic domain control layer is provided in the proximity of the free layer of the GMR sensor in such a way that the track width is Twr1. Outside the first magnetic domain control layer is provided a second magnetic domain control layer. The second magnetic domain control layer placed outside the first magnetic domain control layer gives the first magnetic domain control layer an external bias field. The amount of magnetization of the tip of the first magnetic domain control layer is polarized and increased by the bias magnetic field from the second magnetic domain control layer. This causes the first magnetic domain control layer to apply a strong bias magnetic field having a lower dispersion to the free layer of the GMR sensor.
摘要翻译： 使磁畴控制层变薄使磁特性恶化。 此外，扰动倾向于增加磁畴控制层的磁化散度，从而降低磁畴控制偏置磁场。 在本发明的一个实施例中，第一磁畴控制层设置在GMR传感器的自由层附近，使得轨道宽度为Twr1。 在第一磁畴控制层之外设置有第二磁畴控制层。 放置在第一磁畴控制层之外的第二磁畴控制层给予第一磁畴控制层外部偏置场。 第一磁畴控制层的尖端的磁化量被来自第二磁畴控制层的偏置磁场极化并增加。 这使得第一磁畴控制层向GMR传感器的自由层施加具有较低色散的强偏磁场。
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8.发明授权Magnetoresistive sensor with random crystal orientation underlayer and magnetic domain control film center aligned with free layer 失效具有随机晶体取向底层和磁畴控制膜中心的磁阻传感器与自由层对齐公开(公告)号：US07177121B2
公开(公告)日：2007-02-13
申请号：US10665091
申请日：2003-09-16
IPC分类号： G11B5/39
CPC分类号： B82Y25/00 , G01R33/093 , G11B5/313 , G11B5/3163 , G11B5/3903 , G11B5/3932 , G11B5/3958 , Y10T29/49052
摘要： In a magnetoresistive head according to the present invention, a magnetic domain control film formed at the end of a free layer of a stack of magnetoresistive layers is formed of a Co alloy film, and an underlayer controlling the crystallization state of the Co alloy film and an amorphous metal film layer for controlling the crystallization state of the underlayer are disposed below the magnetic domain control film.
摘要翻译： 在根据本发明的磁阻磁头中，形成在磁阻层堆叠自由层末端的磁畴控制膜由Co合金膜和控制Co合金膜的结晶状态的底层形成， 用于控制底层结晶状态的非晶金属膜层设置在磁畴控制膜的下方。
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9.发明申请公开(公告)号：US20060158793A1
公开(公告)日：2006-07-20
申请号：US11317881
申请日：2005-12-22
CPC分类号： G11B5/3912 , B82Y25/00 , G01R33/093 , G11B5/3932
摘要： Making thinner the magnetic domain control layer deteriorates the magnetic properties. Also, disturbances tend to increase the magnetization dispersion of the magnetic domain control layer, thereby lowering the magnetic domain control bias magnetic field. In one embodiment of the invention, a first magnetic domain control layer is provided in the proximity of the free layer of the GMR sensor in such a way that the track width is Twr1. Outside the first magnetic domain control layer is provided a second magnetic domain control layer. The second magnetic domain control layer placed outside the first magnetic domain control layer gives the first magnetic domain control layer an external bias field. The amount of magnetization of the tip of the first magnetic domain control layer is polarized and increased by the bias magnetic field from the second magnetic domain control layer. This causes the first magnetic domain control layer to apply a strong bias magnetic field having a lower dispersion to the free layer of the GMR sensor.
摘要翻译： 使磁畴控制层变薄使磁特性恶化。 此外，扰动倾向于增加磁畴控制层的磁化散度，从而降低磁畴控制偏置磁场。 在本发明的一个实施例中，第一磁畴控制层设置在GMR传感器的自由层附近，使得轨道宽度为Twr1。 在第一磁畴控制层之外设置有第二磁畴控制层。 放置在第一磁畴控制层之外的第二磁畴控制层给予第一磁畴控制层外部偏置场。 第一磁畴控制层的尖端的磁化量被来自第二磁畴控制层的偏置磁场极化并增加。 这使得第一磁畴控制层向GMR传感器的自由层施加具有较低色散的强偏磁场。
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10.发明授权Glow plug with built-in combustion pressure sensor and manufacturing method thereof 失效具有内置燃烧压力传感器的辉光插头及其制造方法公开(公告)号：US06979801B2
公开(公告)日：2005-12-27
申请号：US10801196
申请日：2004-03-16
申请人： Koji Okazaki , Mitsuru Kondo , Tomohiro Fuma , Takahiro Suzuki
发明人： Koji Okazaki , Mitsuru Kondo , Tomohiro Fuma , Takahiro Suzuki
CPC分类号： F02P19/028 , F23Q7/001 , F23Q2007/002 , F23Q2007/004 , G01L23/10 , G01L23/222
摘要： A glow plug includes a cylindrical housing having an inward protrusion extending radially inwardly, a threaded portion for screwing the glow plug in an engine plug hole and a sealing portion in a front side of the male threaded portion for airtightly engaging the housing with a given portion of the plug hole, a sheath having a rear sheath end portion airtightly fixed in the housing, a heater disposed in the sheath, a center electrode disposed in the housing and having a front electrode end portion electronically connected with the heater and mechanically connected with the sheath and an outward protrusion protruding radially outwardly, and a combustion pressure sensor having a pressure-sensitive element arranged between a front surface of the inward protrusion and a rear surface of the outward protrusion to generate an electrical signal in response to variations in stress applied thereto.
摘要翻译： 电热塞包括圆柱形壳体，其具有径向向内延伸的向内突出部，用于将电热塞拧到发动机插塞孔中的螺纹部分和位于外螺纹部分前侧的密封部分，用于将壳体与给定部分气密接合 所述护套具有气密地固定在所述壳体中的后护套端部，设置在所述护套中的加热器，设置在所述壳体中的中心电极，并且具有与所述加热器电连接并与所述加热器电连接的前电极端部 护套和径向向外突出的向外突出部，以及燃烧压力传感器，其具有布置在向内突出部的前表面和向外突出部的后表面之间的压敏元件，以响应于施加到其上的应力的变化而产生电信号 。
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