摘要:
Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.
摘要:
Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.
摘要:
A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
摘要:
A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
摘要:
Provided is a vehicle testing apparatus which involves load variation and alignment variation, for analyzing a maneuverability of a vehicle on flat belts or rollers adapted to be rotated together with wheels of the vehicle, and in particular, maneuver variation. Load variation caused by an inertia force and a gravitational force which are produced during actual running of the vehicle, and tire alignment variation caused by suspension strokes, are forcibly reproduced by forces produced by actuators or a gravitational force, thereby it is possible to evaluate a maneuverability of the vehicle in a condition substantially the same as that during actual running of the vehicle.
摘要:
A shaking test system for testing a structure including a shaking device for shaking the structure, measuring devices mounted on the shaking device for shaking the structure, external signal input device for inputting data indicative of external force for shaking the structure, as well as other calculating arrangements. The shaking test system permits the setting of a large time interval of a shaking test by converting natural modes of vibration expressed by a second-order differential equation, namely second-order lag system of a vibration differential equation into a first-order lag system or (O)th order lag system for short period mode.
摘要:
A vibration testing device includes a computer system having: a measurement processing block for inputting an output of the monitoring sensor and processing the output; a model substituting block for modeling characteristics of the test piece, calculating a response quantity corresponding to a drive condition of an actuator, and inputting the calculation result to a numerical simulation block and the parameter changing block; the parameter changing block for comparing the calculation result of the model substituting block with the processing result of the measurement processing block, and changing the parameter; the numerical simulation block for calculating a vibration response in accordance with a previously input structure numerical model; and a waveform generating block for calculating a time function of a deformation to be applied to the test piece, and outputting the time block to the actuator controlling device.
摘要:
A main computer for performing numerical simulation and a sub-computer for controlling each shaking machine are provided. Data transfer between the main computer and sub-computer is performed by communications. The main computer is provided with a model substituting function of modeling a specimen to be shaken, a parameter modification function of sequentially modifying parameters of a model in accordance with the vibration test result, and an abnormality inspection function of judging an abnormality of each shaking system and if an abnormality is detected, substituting the measured value of a reaction force with an output of the model substituting function. It is possible to make an experiment of evaluating the strength and reliability of a massive structure, for example, relative to an earthquake and to make a vibration test at a high precision and with an economical cost.
摘要:
Measured values obtained from a running test of an object to be tested and a module on a test bench such as a flat belt type chassis dynamo, and computation based upon numerical models of components other than the object to be tested and the module, are related to each other so as to reproduce a condition near to an actual running condition, for the object to be tested and the module so as to precisely analyze how the object to be tested and the module affects upon the motion of the overall vehicle during actual running of the vehicle. Thus it is possible to evaluate dynamic characteristics of respective vehicle components and a module which relate to the maneuvering performance of the vehicle, on a test bench in a condition in which a load variation and an alignment variation are taken into consideration.
摘要:
A calculating device and method provided for a shaking test apparatus for carrying out a shaking test on a structure by using a partial structure and a numerical model which is virtually connected to the partial structure. The calculating device includes a calculation part which identifies a vibration model corresponding to the partial structure on the basis of displacement and reaction force detected in response to shaking and which combines the vibration model and the numerical model with each other to construct a model of the overall system corresponding to the structure and calculates the shaking response of the overall system model.