公开(公告)号：US20050172059A1

公开(公告)日：2005-08-04

申请号：US11016769

申请日：2004-12-21

申请人： Kentaro Yoshimura ,  Wataru Nagaura ,  Takanori Yokoyama ,  Nobuyasu Kanekawa

发明人： Kentaro Yoshimura ,  Wataru Nagaura ,  Takanori Yokoyama ,  Nobuyasu Kanekawa

IPC分类号： G06F13/38 ,  G06F13/10 ,  G06F13/42 ,  H04L12/40

CPC分类号： G06F13/4291 ,  G06F9/54 ,  G06F13/102 ,  H04L12/40019 ,  H04L12/403 ,  H04L2012/40273

摘要： A data communication system uses an SPI bus having a plurality of devices wherein data communications are enabled using communication protocols optimum to respective devices. The system includes a master device connected to a plurality of slave devices via a data transmission bus by which the master device transfers data to the slave devices, or a data reception bus by which the master device receives data from the slave devices, in a synchronism with a synchronous clock signal. Chip select signal lines also connect the master device to the slave devices, on a one to one basis. Communication drivers set a physical protocol of each slave device, and a communication manager arbitrates serial communications between the master device and the slave devices by their proper physical protocols. Communication protocols such as baud rates, clock polarities, and clock phases are switched by asserted Chip Select signal lines.

摘要翻译： 数据通信系统使用具有多个设备的SPI总线，其中使用对各个设备最佳的通信协议来启用数据通信。 该系统包括：主设备经由数据传输总线连接到多个从设备的主设备，主设备通过该数据传输总线将数据传输到从设备，或者主设备通过该数据接收总线以同步方式从从设备接收数据 具有同步时钟信号。 芯片选择信号线还将主器件一对一连接到从器件。 通信驱动器设置每个从设备的物理协议，并且通信管理器通过其适当的物理协议来仲裁主设备和从设备之间的串行通信。 诸如波特率，时钟极性和时钟相位之类的通信协议由断言的片选信号线切换。

公开(公告)号：US07228372B2

公开(公告)日：2007-06-05

申请号：US11016769

申请日：2004-12-21

申请人： Kentaro Yoshimura ,  Wataru Nagaura ,  Takanori Yokoyama ,  Nobuyasu Kanekawa

发明人： Kentaro Yoshimura ,  Wataru Nagaura ,  Takanori Yokoyama ,  Nobuyasu Kanekawa

IPC分类号： G06F3/00 ,  G06F13/00 ,  H04L7/00 ,  H04L29/06 ,  H04J3/06

CPC分类号： G06F13/4291 ,  G06F9/54 ,  G06F13/102 ,  H04L12/40019 ,  H04L12/403 ,  H04L2012/40273

摘要： A data communication system includes a master device, a plurality of slave devices, at least either a data transmission bus which connects the master device to a plurality of slave devices to transfer data from the master device to the slave devices in synchronism with a synchronous clock signal or a data reception bus over which the master device receives data from the slave devices in synchronism with a synchronous clock signal, and Chip Select signal lines which one-to-one connect the master device to the slave devices. The data communication system also includes communication drivers for setting a physical protocol of each slave device and a communication manager to arbitrate serial communications between the master device and the slave devices. The communication manager arbitrates serial communications to slave devices by their proper physical protocols. Communication protocols such as baud rates, clock polarities, and clock phases are switched by asserted Chip Select signal lines.

摘要翻译： 数据通信系统包括主设备，多个从设备，至少一个数据传输总线，其将主设备连接到多个从设备，以与同步时钟同步地将数据从主设备传送到从设备 信号或数据接收总线，主设备通过该数据接收总线与同步时钟信号同步地从从设备接收数据，以及一对一将主设备连接到从设备的片选信号线。 数据通信系统还包括用于设置每个从设备的物理协议的通信驱动器和通信管理器来仲裁主设备和从设备之间的串行通信。 通信管理器通过其适当的物理协议仲裁到从设备的串行通信。 诸如波特率，时钟极性和时钟相位之类的通信协议由断言的片选信号线切换。

公开(公告)号：US07836233B2

公开(公告)日：2010-11-16

申请号：US10642755

申请日：2003-08-19

申请人： Kunihiko Tsunedomi ,  Kentaro Yoshimura ,  Nobuyasu Kanekawa ,  Takanori Yokoyama ,  Mitsuru Watabe

发明人： Kunihiko Tsunedomi ,  Kentaro Yoshimura ,  Nobuyasu Kanekawa ,  Takanori Yokoyama ,  Mitsuru Watabe

IPC分类号： G06F13/00

CPC分类号： G05B19/0421 ,  G05B2219/2231 ,  G05B2219/25178

摘要： A serial communication interface (SCI) cable 4 is provided between the slave processor 2 and the master processor 3. Both processors are connected with a communication interface for peripheral units (SPI: Serial Peripheral Interface) which enables fast transmission. The slave processor 2 transmits a transmission request command which requests at least one of data transmission and reception from the command communication section 220 to the master processor 3 through the SCI cable 4. The master processor 3 transfers data to and from the slave processor 2 in communication with the slave processor 2 by means of the data communication section 310 through the fast SPI cable 5 in response to a transmission request command sent from the slave processor 2 With this, the processing ability of a multi-processor system can be increased.

摘要翻译： 在从属处理器2和主处理器3之间提供串行通信接口（SCI）电缆4.两个处理器都连接有外围设备的通信接口（SPI：串行外设接口），可实现快速传输。 从处理器2通过SCI电缆4发送从命令通信部220向主处理器3请求数据发送和接收中的至少一个的发送请求命令。主处理器3将来自从处理器2的数据传送到从处理器2 响应于从从属处理器2发送的发送请求命令，通过数据通信部分310通过快速SPI电缆5与从属处理器2进行通信。由此，可以增加多处理器系统的处理能力。

公开(公告)号：US07680228B2

公开(公告)日：2010-03-16

申请号：US10578188

申请日：2004-10-01

申请人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama ,  Kunihiko Tsunedomi ,  Junji Miyake ,  Katsuya Oyama

发明人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama ,  Kunihiko Tsunedomi ,  Junji Miyake ,  Katsuya Oyama

IPC分类号： H04L7/02

CPC分类号： G06F13/4291

摘要： In addition to fast on-off timing, instructive information on an output wave such as an amplitude or a slope is transmitted through a small number of signal lines. Output wave modifier information such as the amplitude or slope is transferred through serial communication 1, and an on-off timing signal is transmitted as an individual signal 20.

摘要翻译： 除了快速开关定时之外，通过少量的信号线发送诸如振幅或斜率的输出波的指导信息。 诸如幅度或斜率的输出波修正器信息通过串行通信1传送，并且开 - 关定时信号作为单独信号20发送。

公开(公告)号：US20070159126A1

公开(公告)日：2007-07-12

申请号：US10586525

申请日：2004-01-20

申请人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama

发明人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama

IPC分类号： G05B11/32

CPC分类号： B62D15/0215 ,  B60T2220/04 ,  B60T2270/82 ,  B62D6/10 ,  B64C13/505 ,  G05B2219/42318

摘要： A position (or angle, in a rotary motion) sensor and a force (or torque, in a rotary motion) sensor of a master that are required for the construction a conventional force-feedback or parallel bilateral servo are used as mutually redundant sensors. In the force-feedback or parallel bilateral servo, a target position (angle) of a slave can be determined by a sensor other than a failed sensor, allowing a control operation to continue. Because the sensors that are originally provided for bilateral servo are utilized as redundant sensors, a control device having a predetermined reliability can be provided with a lower sensor redundancy.

摘要翻译： 作为相互冗余的传感器，使用传统的力反馈或并行双向伺服的构造所需要的主体的位置（或旋转运动中的角度）传感器和力（或转矩，在旋转运动中的转矩）传感器。 在力反馈或并行双向伺服中，从机的目标位置（角度）可由除故障传感器之外的传感器确定，从而允许控制操作继续。 由于最初用于双向伺服的传感器被用作冗余传感器，所以具有预定可靠性的控制装置可以提供较低的传感器冗余度。

公开(公告)号：US20090022255A1

公开(公告)日：2009-01-22

申请号：US10578188

申请日：2004-10-01

申请人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama ,  Kunihiko Tsunedomi ,  Junji Miyake ,  Katsuya Oyama

发明人： Nobuyasu Kanekawa ,  Shoji Sasaki ,  Takanori Yokoyama ,  Kunihiko Tsunedomi ,  Junji Miyake ,  Katsuya Oyama

IPC分类号： H04L7/00

CPC分类号： G06F13/4291

摘要： In addition to fast on-off timing, instructive information on an output wave such as an amplitude or a slope is transmitted through a small number of signal lines. Output wave modifier information such as the amplitude or slope is transferred through serial communication 1, and an on-off timing signal is transmitted as an individual signal 20.

摘要翻译： 除了快速开关定时之外，通过少量的信号线发送诸如振幅或斜率的输出波的指导信息。 诸如幅度或斜率的输出波修正器信息通过串行通信1传送，并且开 - 关定时信号作为单独信号20发送。

公开(公告)号：US20080282118A1

公开(公告)日：2008-11-13

申请号：US12053216

申请日：2008-03-21

申请人： Wataru NAGAURA ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

发明人： Wataru NAGAURA ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

IPC分类号： G06F11/07

CPC分类号： H04L1/0061 ,  H04L12/40032 ,  H04L51/30 ,  H04L69/26 ,  H04L69/40 ,  H04L2012/40215 ,  H04L2012/40273

摘要： The highly reliable distributed system is composed of a communication protocol processing unit which comprises a mailbox for storing a communication message, and executes communication protocol processing between data of an application program and a network controller using the network controller performing network communication of the message in the mailbox; an error detection coding unit; an error detection decoding unit which reconverts data converted from communication data by the error detection coding unit to the original data, and detects that the content of the data is damaged if it is damaged; and a data comparing unit for checking whether or not two kinds of data agree with each other.

摘要翻译： 高度可靠的分布式系统由包括用于存储通信消息的邮箱的通信协议处理单元组成，并且使用网络控制器执行应用程序的数据和网络控制器之间的通信协议处理，所述网络控制器执行消息的网络通信 邮箱; 错误检测编码单元; 错误检测解码单元，其将由错误检测编码单元从通信数据转换的数据重新转换为原始数据，并且如果损坏，则检测到数据的内容被损坏; 以及用于检查两种数据是否彼此一致的数据比较单元。

公开(公告)号：US20050267953A1

公开(公告)日：2005-12-01

申请号：US11167137

申请日：2005-06-28

申请人： Shoji Suzuki ,  Takanori Yokoyama ,  Wataru Nagaura ,  Takaaki Imai

发明人： Shoji Suzuki ,  Takanori Yokoyama ,  Wataru Nagaura ,  Takaaki Imai

IPC分类号： G06F15/177 ,  H04L29/08

CPC分类号： H04L67/125 ,  H04L67/10 ,  H04L69/329

摘要： The present invention provides a real-time distributed system which can improve productivity of software by suppressing a volume of software change incident to change in the system configuration, and can send or receive a message requested to be sent or received corresponding to its priority. A middleware is contained in each of control units. Services of the middleware in each of the control units are as follows, that is, 1. tasks T1, . . . , Tn for executing starting AP modules and calling RT communication processing according to starting order information and the like in AP configuration information, and 2. RT communication service for executing sending and receiving messages Msgl, . . . , Msgn between the AP modules corresponding to the calling. The AP configuration information and the messages are generated by an information processor based on user defined information and transmitted to each of the units by on-line or off-line. Further, the real-time distributed system comprises a network controller for executing network communication by storing a plurality of sending and receiving messages, a network driver for executing network communication using the network controller, a network driver for executing network communication using the network controller, a network driver priority management means for determining priority of processing of the network driver corresponding to priorities of sent and received messages to be handled, and a scheduling means for executing processing of the network driver according to the priority of the processing of the network driver.

摘要翻译： 本发明提供了一种实时分布式系统，其可以通过抑制事件改变系统配置的软件变化量来提高软件的生产力，并且可以根据其优先级发送或接收请求发送或接收的消息。 每个控制单元都包含一个中间件。 每个控制单元的中间件服务如下，即1.任务T 1，。 。 。 ，Tn，用于根据AP配置信息中的起始顺序信息等执行起始AP模块和呼叫RT通信处理;以及2.用于执行发送和接收消息Msg1的RT通信服务。 。 。 ，Msgn之间的AP模块对应的调用。 AP配置信息和消息由信息处理器基于用户定义的信息生成，并通过在线或离线发送到每个单元。 此外，实时分布式系统包括通过存储多个发送和接收消息来执行网络通信的网络控制器，用于使用网络控制器执行网络通信的网络驱动器，用于使用网络控制器执行网络通信的网络驱动器， 网络驱动器优先级管理装置，用于根据所处理的发送和接收消息的优先级确定网络驱动器的处理优先级;以及调度装置，用于根据网络驱动程序的处理优先级执行网络驱动程序的处理。

公开(公告)号：US07036050B2

公开(公告)日：2006-04-25

申请号：US10885322

申请日：2004-07-07

申请人： Wataru Nagaura ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

发明人： Wataru Nagaura ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

IPC分类号： G06F11/00

CPC分类号： H04L1/0061 ,  H04L12/40032 ,  H04L51/30 ,  H04L69/26 ,  H04L69/40 ,  H04L2012/40215 ,  H04L2012/40273

摘要： The highly reliable distributed system is composed of a communication protocol processing unit which comprises a mailbox for storing a communication message, and executes communication protocol processing between data of an application program and a network controller using the network controller performing network communication of the message in the mailbox; an error detection coding unit; an error detection decoding unit which reconverts data converted from communication data by the error detection coding unit to the original data, and detects that the content of the data is damaged if it is damaged; and a data comparing unit for checking whether or not two kinds of data agree with each other.

公开(公告)号：US07356739B2

公开(公告)日：2008-04-08

申请号：US11384319

申请日：2006-03-21

申请人： Wataru Nagaura ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

发明人： Wataru Nagaura ,  Takanori Yokoyama ,  Shoji Suzuki ,  Satoru Kuragaki ,  Takaaki Imai

IPC分类号： G06F11/00

CPC分类号： H04L1/0061 ,  H04L12/40032 ,  H04L51/30 ,  H04L69/26 ,  H04L69/40 ,  H04L2012/40215 ,  H04L2012/40273

摘要： The highly reliable distributed system is composed of a communication protocol processing unit which comprises a mailbox for storing a communication message, and executes communication protocol processing between data of an application program and a network controller using the network controller performing network communication of the message in the mailbox; an error detection coding unit; an error detection decoding unit which reconverts data converted from communication data by the error detection coding unit to the original data, and detects that the content of the data is damaged if it is damaged; and a data comparing unit for checking whether or not two kinds of data agree with each other.

摘要翻译： 高度可靠的分布式系统由包括用于存储通信消息的邮箱的通信协议处理单元组成，并且使用网络控制器执行应用程序的数据和网络控制器之间的通信协议处理，所述网络控制器执行消息的网络通信 邮箱; 错误检测编码单元; 错误检测解码单元，其将由错误检测编码单元从通信数据转换的数据重新转换为原始数据，并且如果损坏，则检测到数据的内容被损坏; 以及用于检查两种数据是否彼此一致的数据比较单元。