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11. 发明授权

US07130158B2 Head arm of magnetic disk device 失效
公开(公告)号：US07130158B2
公开(公告)日：2006-10-31
申请号：US10157028
申请日：2002-05-29
申请人： Hiroyuki Kubotera , Naozumi Tsuda , Tsugito Maruyama
发明人： Hiroyuki Kubotera , Naozumi Tsuda , Tsugito Maruyama
IPC分类号： G11B5/55
CPC分类号： G11B5/5565
摘要： A head arm of a magnetic disk device has reduced air flow turbulence around the head arm using one or more of several configurations, such as multiple apertures, various chamfered edges, various protrusion configurations, and head arm shapes.

12. 发明授权

US5943056A Interference checking method 失效
标题翻译：干扰检查方法
公开(公告)号：US5943056A
公开(公告)日：1999-08-24
申请号：US668145
申请日：1996-06-21
申请人： Yuichi Sato , Mitsunori Hirata , Tsugito Maruyama
发明人： Yuichi Sato , Mitsunori Hirata , Tsugito Maruyama
IPC分类号： G05B19/19 , G06F17/50 , G06T17/00
CPC分类号： G06T17/00
摘要： An interference checking method for checking the interference between two objects in the shape of non-convex polyhedrons, comprising the steps of producing a convex hull for each of the non-convex polyhedrons, and checking the interference of the convex hull of one object with the convex hull of the other object; covering each of polygons which constitute each of the non-convex polyhedrons with a plurality of leaf spheres which have a predetermined radius and which are arranged on each polygon when the distance between the convex hulls becomes not more than a preset value, and sequentially enveloping the leaf spheres with hierarchical spheres so as to produce a binary tree of hierarchical envelope spheres; obtaining a pair of nearby spheres closest by checking the interference between envelope spheres of an upper grade on the basis of the structure of the binary tree, disassembling the interfering envelope spheres into envelope spheres of a lower grade, checking the interference between the envelope spheres of the lower grade, and repeating the interference check process and the disassembly process until no interference is detected; obtaining a nearby polygon pair which corresponds to the pair of nearby spheres; and checking the interference between the nearby polygon pair.
摘要翻译：一种用于检查非凸形多面体形状的两个物体之间的干涉的干涉检查方法，包括以下步骤：为每个非凸多面体产生凸包，并且检查一个物体的凸包与另一个物体的凸包; 使用具有预定半径的多个叶球覆盖构成每个非凸多面体的每个多边形，并且当凸包之间的距离变得不大于预设值时，它们被布置在每个多边形上，并且顺序包围具有分级球体的叶球，以便产生分层包络球的二叉树; 通过根据二叉树的结构检查较高等级的信封球之间的干扰，将干扰包络球分解成较低等级的包络球，检查包围球之间的干扰，从而获得最近的一对附近球体低级别，重复干扰检查处理和拆卸过程，直到没有检测到干扰; 获得对应于所述一对附近球体的附近多边形对; 并检查附近的多边形对之间的干扰。

13. 发明授权

US5526254A Simulation method and apparatus for manipulator apparatus, simulation and control method and apparatus for manipulator apparatus, and control method and apparatus for manipulator apparatus 失效
标题翻译：机械手装置的仿真方法和装置，机械手装置的模拟和控制方法及装置以及机械手装置的控制方法和装置
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。

14. 发明授权

US08909503B2 Matrix generation technique and plant control technique 有权
标题翻译：矩阵生成技术和植物控制技术
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。

15. 发明申请

US20120265425A1 ENGINE CONTROL PROGRAM, METHOD AND APPARATUS 有权
标题翻译：发动机控制程序，方法和装置
公开(公告)号：US20120265425A1
公开(公告)日：2012-10-18
申请号：US13528364
申请日：2012-06-20
申请人： Tsugito Maruyama , Arata Ejiri
发明人： Tsugito Maruyama , Arata Ejiri
IPC分类号： F02D41/26 , F02B37/00 , F02M25/07 , F02D41/30
CPC分类号： F02D41/0052 , F02B29/0406 , F02B37/00 , F02B37/24 , F02D41/0002 , F02D41/0007 , F02D41/005 , F02D41/1401 , F02D41/187 , F02D2041/0017 , F02D2041/141 , F02D2041/1418 , F02D2041/1422 , F02D2200/0406 , F02M26/05 , F02M26/10 , F02M26/23 , Y02T10/144 , Y02T10/42 , Y02T10/47
摘要： Setting values of a fuel injection quantity for an engine having an exhaust gas recirculator (EGR) and variable nozzle turbo (VNT), and an engine speed, and measurement values of a manifold air pressure (MAP) and a mass air flow (MAF) are obtained. According to a combination of the reference values of an EGR valve opening degree and a VNT nozzle opening degree, which correspond to the setting values, or a combination of a control value of the EGR valve opening degree by a MAF controller and a control value of the VNT nozzle opening degree by a MAP controller, which correspond to the measurement values, a mode that the MAF and MAP controllers, a first interference compensator from the MAF controller to the MAP controller and a second interference compensator for the reverse direction are enabled and a mode that the MAF or MAP controller is enable are dynamically switched.
摘要翻译：具有排气再循环器（EGR）和可变喷嘴涡轮（VNT）的发动机的燃料喷射量的设定值和发动机转速以及歧管空气压力（MAP）和质量空气流量（MAF）的测量值，获得。根据与设定值相对应的EGR阀开度和VNT喷嘴开度的参考值的组合，或通过MAF控制器的EGR阀开度的控制值与控制值的组合通过MAP控制器对应于测量值的VNT喷嘴开度，MAF和MAP控制器，从MAF控制器到MAP控制器的第一干涉补偿器和用于反向的第二干涉补偿器被启用的模式，以及动态切换MAF或MAP控制器启用的模式。

16. 发明申请

US20080312891A1 DESIGN METHOD, DESIGN SUPPORT APPARATUS, AND COMPUTER PRODUCT FOR FEEDBACK CONTROL SYSTEM 审中-公开
标题翻译：设计方法，设计支持设备和反馈控制系统的计算机产品
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。

17. 发明授权

US5870494A Method for determining orientation of contour line segment in local area and for determining straight line and corner 失效
标题翻译：确定局部区域轮廓线段方位和确定直线和拐角的方法
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）

18. 发明授权

US5509090A Three-dimensional measuring apparatus having improved speed and resolution 失效
标题翻译：具有改善的速度和分辨率的三维测量装置
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。

19. 发明授权

US4846576A Method for measuring a three-dimensional position of an object 失效
标题翻译：用于测量物体的三维位置的方法
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。

20. 发明申请

US20090244768A1 MAGNETIC HEAD POSITIONING CONTROL METHOD AND MAGNETIC HEAD POSITIONING CONTROL APPARATUS 审中-公开
标题翻译：磁头定位控制方法及磁头定位控制装置
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。

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