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1. 发明专利

JP2003173452A ACTION CONTROLLER, METHOD, AND PROGRAM 审中-公开
公开(公告)号：JP2003173452A
公开(公告)日：2003-06-20
申请号：JP2001371672
申请日：2001-12-05
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： MACHINO TAMOTSU , KITAGISHI IKUO , NAKAYAMA AKIRA , IWAKI SATOSHI
IPC分类号： A63F13/25 , A63F13/54 , A63F13/55 , A63H11/00 , B25J13/00 , G06F3/00 , G06F3/048 , G06T11/60 , G06T13/00 , G06T13/80
摘要： PROBLEM TO BE SOLVED: To provide an action controller capable of reproducing a scenario without respect to presence/absence of connection of a real character and combining and computing action data for improving expression of the real character. SOLUTION: The controller determines whether a robot is connected or not, and if the robot is not connected, a command execution for the robot is switched to that for software. A command of scenario information is interpreted for letting a software character for the robot make gesture and making sound from a speaker at the same time. COPYRIGHT: (C)2003,JPO

2. 发明专利

JP2002314634A LOCATION DETECTION SYSTEM AND PORTABLE TELEPHONE TERMINAL 失效
公开(公告)号：JP2002314634A
公开(公告)日：2002-10-25
申请号：JP2001116458
申请日：2001-04-16
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI , OKUDAIRA MASASHI , KAKIZAKI TAKAO
IPC分类号： G08B23/00 , G08B25/00 , G08B25/10 , G08B26/00 , H04M1/00 , H04M11/04
摘要： PROBLEM TO BE SOLVED: To specify a victim at a disaster, etc., and to specify the accurate location of the dis as ten by using a portable telephone system and a portable telephone terminal. SOLUTION: A plurality of radio base stations 1 that respectively construct an area transmit particular emergency radio wave signals to the portable telephone terminal 3 according to an instruction from a radio exchange 2 by using the portable telephone system having the plurality of radio base stations 1. The portable telephone terminal 3 that has received the emergency radio wave signal converts self-ID information (name, telephone number, etc.), stored in the terminal into a sound signal (Morse signal and DTMF(dial tone multi frequency) signal) and outputs the sound signal as emergency transmission sound with sound volume larger than that of normal calling sound. A person decodes the Morse signal from the emergency transmission sound and decodes the DTMF signal into ID information with an ID detection device to specify the owner and the location of the telephone terminal.

3. 发明专利

JPH06328378A MOTION CONTROL OF ARTICULATED MANIPULATOR 失效
公开(公告)号：JPH06328378A
公开(公告)日：1994-11-29
申请号：JP12108593
申请日：1993-05-24
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI
IPC分类号： B25J9/06 , B25J9/10
摘要： PURPOSE:To realize a control system whose behavior in the neighbourhood of a singular position is stable and at high speed by carrying out transposed matrix computation of a Jacobian matrix expressing correspondence of a position of a head end of an articulated manipulator and each articulated angle for an input position command value and carrying out regular matrix computation to convert a computed result to a dimension of angular velocity. CONSTITUTION:A position command value by indication of an orthogonal coordinate of a head end of an articulated manipulator alpha is input to a positive input of a first adding part 22, input to a position control gain matrix computing part 23, and gain of position control is adjusted. Thereafter, Jacobian transposed matrix computation is carried out at a Jacobian transposed matrix computing part 24, matrix computation with a proper regular matrix U having a dimension of (rad/s/N/m) is carried out at a regular matrix computing part 25, and it becomes a six dimensional articulated angular velocity command vector. After this six dimensional articulated angular velocity command vector is input to a positive input of a second adding part 26, gain of speed control is adjusted at a six row six column speed control gain matrix computing part 27.

4. 发明专利

JPH05324077A MOTOR CONTROLLER 失效
公开(公告)号：JPH05324077A
公开(公告)日：1993-12-07
申请号：JP12493092
申请日：1992-05-18
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI
IPC分类号： B25J9/10 , B25J13/08 , G05B13/02 , G05B13/04 , G05D3/12 , G05D15/01
摘要： PURPOSE:To provide a mechanism capable of independently setting the position control characteristic, compliance value, and transmission function in the free space from the external power to the displacement. CONSTITUTION:The motor control system provided with a power sensor is equipped with adders 11 and 12 in front of and behind all integrators 10 of the dynamic compensators realized in more than one-dimensional observability system. Signals proportional to the signals from the power sensor are inputted to all the adders 11 and 12.

5. 发明专利

JPS61231610A POSITION AND ANGLE CONTROLLING DEVICE 失效
公开(公告)号：JPS61231610A
公开(公告)日：1986-10-15
申请号：JP7079285
申请日：1985-04-05
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： MATSUDA RYUICHI , IWAKI SATOSHI
IPC分类号： G05D3/12
摘要： PURPOSE:To control the movement of a position and an angle contactlessly with high accuracy in a desired direction by utilizing magnetic levitation technol ogy. CONSTITUTION:Electromagnets 7-11 are arranged radially at two positions apart in the direction of the center line of the cylinder 6 of a magnetic body, that is, in the axial direction of a fixed support 5. The gap 18 between the electromagnets 7-11 and the cylinder 6 of the magnetic substance is kept constant. Further, permanent magnets 16a, 17a and 16b, 17b are restricted repulsively in the direction of the center line of the cylinder 6 (axial direction). Further, the movement around the center line of the cylinder 6 is restricted by the repulsive force of permanent magnets 20, 21a, 21b. Thus, the movement control of the position and angle in the desired direction is attained contactlessly with high accuracy.

6. 发明专利

JP2003150186A ROBOT SYSTEM, ROBOT CONTROL METHOD, ROBOT CONTROLLER AND ROBOT CONTROL PROGRAM 审中-公开
公开(公告)号：JP2003150186A
公开(公告)日：2003-05-23
申请号：JP2001352242
申请日：2001-11-16
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： NAKAYAMA AKIRA , MACHINO TAMOTSU , IWAKI SATOSHI , KITAGISHI IKUO , OKUDAIRA MASASHI
IPC分类号： A63H5/00 , A63H11/00 , B25J5/00 , B25J13/00 , G10L13/00 , G10L13/08
摘要： PROBLEM TO BE SOLVED: To make information, through which a robot having multi-degree of freedom is precisely controlled transmittable, with a simply constituted transmitting means while the information is simultaneously synchronized with voice, music or synthesized voice. SOLUTION: The robot system is provided with a robot control section 10 which analyzes inputted text information, extracts feeling information that is used to express feeling from the text information, analyzes the feeling information and generates movement signals to move the robot based on the analysis results, a synthesized voice generating section 11 which synthesizes voice signals from the text information, a mixer 14 which outputs synthesized sound electric signals obtained by superimposing the voice signals and the movement signals as robot control signals and a USB interface 15.

7. 发明专利

JP2001036674A PUBLIC TELEPHONE SYSTEM 失效
公开(公告)号：JP2001036674A
公开(公告)日：2001-02-09
申请号：JP20658799
申请日：1999-07-21
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI , OKUDAIRA MASASHI
IPC分类号： H04M1/00 , H04M1/738 , H04M17/00
摘要： PROBLEM TO BE SOLVED: To use a telephone set in connection with a public line through a cable through the user of the transmitter-receiver of a mobile telephone terminal by providing a line connecting means for connecting the mobile telephone terminal connected through an electrically connecting means to the public line. SOLUTION: A public telephone system 50 is provided with a display 51, ten keys 52, a charging device 53, a power source device 54, a public network connector 55, a signal processor 56, a private transmitter/receiver 57, a signal input/output device 58, a charge designating button 59 and connectors 60 to 62. A portable telephone set 10 can be connected to each of the three connectors 60 to 62 provided at this system 50 though a connecting cable 14. Instead of the set 10, a PHS terminal can be connected. Then, in this connector 55, this system 50 and the set 10 connected to the connectors 60 to 62 are connected with an exchange 20 through a public network such as an ISDN line respectively.

8. 发明专利

JPH09216185A ROBOT CONTROLLING METHOD AND ROBOT SYSTEM 失效
公开(公告)号：JPH09216185A
公开(公告)日：1997-08-19
申请号：JP2552196
申请日：1996-02-13
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI , MATSUO SATORU , SHIMOKURA KENICHIRO
IPC分类号： B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a robot controlling method and a robot system for performing this method, by which the generation of resonance can be suppressed when a highly rigid part touches an environment without any reduction in a conveying weight capacity of a robot and any deterioration of rigidity of a supporting mechanism for a tool. SOLUTION: A force sensor 3, which recognizes an interaction force generated when a tool 1a in a robot 1 touches a workpiece W, is installed on a working table 2 to which the workpiece W is arranged, while feedback of regulation operating data to a robot controller 4 is carried out on the basis of the measurement data from the force sensor 3, and in this way, force control for the robot 1 is carried out.

9. 发明专利

JPH02132505A SPRING DEVICE 失效
公开(公告)号：JPH02132505A
公开(公告)日：1990-05-22
申请号：JP28589288
申请日：1988-11-14
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI , GOMI HIROAKI
IPC分类号： B23Q9/00 , F16F1/00 , G05D3/10 , G05D3/12
摘要： PURPOSE:To electrically produce a stable spring having a negative compliance constant by using a compensator which positively feeds back a signal proportional to the output current of a power amplifier or a signal inputted to the power amplifier. CONSTITUTION:An actuator 1 drives a rotor 5 with the output current (i) received from a power amplifier 2. The displacement (x) of the rotor 5 is detected by a displacement sensor 3 and then multiplied by the gain ks to be inputted to a compensator 4 as a signal y (= ksx). The compensator 4 can own the negative compliance characteristics by the positive feedback of a signal which is proportional to the current (i). The negative compliance characteristics can also be obtained by selecting a control parameter in consideration of the primary delays of the current and voltage of a power amplifier even in case this amplifier applies a constant voltage formula. Thus it is possible to electrically obtain the stable negative spring characteristics that have the displacement in the direction opposite to the external force.

10. 发明专利

JP2002150102A COMM TRANSACTION METHOD 失效
公开(公告)号：JP2002150102A
公开(公告)日：2002-05-24
申请号：JP2000349582
申请日：2000-11-16
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： IWAKI SATOSHI , NAKAYAMA AKIRA
IPC分类号： G06Q50/00 , G06Q10/00 , G06Q30/02 , G06Q30/06 , G09C5/00 , G06F17/60
摘要： PROBLEM TO BE SOLVED: To provide a commercial transaction method for an advertisement presenting enterprise capable of obtaining the secure feedback, accurately analyzing the quantitative effect of an advertisement, and improving the advertisement effect. SOLUTION: An advertisement agency synthesizes the coupon data 902 of an advertisement 910 presented by a retail dealer (an advertiser) with a synthesizing device 904 using a data hiding technology to produce the audio electric signal 903. A broadcaster transmits an advertisement synthesized with this coupon data 902 through a transmitter 906. A consumer extracts the coupon data 902 from the advertisement received by a receiver 900 with an extracting device 910. When the consumer accesses a web server 921 from a personal computer 911, the accumulated point number of the coupon of this consumer is written into the consumer data base 922, and this content can be read through a terminal. device 923.

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