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    • 67. 发明申请
    • Mobile Unit and Control Method of Mobile Unit
    • 移动单元的移动单元和控制方法
    • US20090018743A1
    • 2009-01-15
    • US12223585
    • 2007-08-28
    • Koji Yamada
    • Koji Yamada
    • B60L15/20G05D1/08G05B11/36G01M1/12
    • A61G5/04A61G2203/14A61G2203/42B60L15/20B60L2200/16B60L2240/12B60L2240/20B60L2240/22B60L2240/423B60L2260/34B60L2260/42G05D1/0891Y02T10/645Y02T10/7275
    • In an inverted pendulum type mobile unit that performs inverted pendulum stabilization control and traveling control based on a velocity target value as an input variable, a change in tilt angle of a vehicle body occurring during traveling is smoothed. The target value generating portion in the inverted pendulum type mobile unit generates the velocity target value VREF of the mobile unit and the tilt angular rate target value ωREF of the vehicle body so that a second-order time derivative of VREF is continuous and ωREF is continuous with respect to time. The controller in the inverted pendulum type mobile unit calculates a torque command value Tcom for the motor drivers using VREF and ωREF as a control target to allow the mobile unit to travel at VREF while maintaining the state where the gravity center of the vehicle body or the gravity center of total mass of the vehicle body and a subject supported on the vehicle body is located upper than the rotation center of the wheels.
    • 在基于速度目标值作为输入变量执行倒立摆稳定控制和行驶控制的倒立摆式移动单元中,平滑了在行驶期间发生的车身倾斜角的变化。 倒立式移动单元中的目标值产生部分生成移动单元的速度目标值VREF和车身的倾斜角速度目标值ωREF,使得VREF的二阶时间导数连续且ωREF连续 相对于时间。 倒立式移动单元中的控制器使用VREF和omegaREF作为控制对象来计算用于电动机驱动器的转矩指令值Tcom,以允许移动单元以VREF行进,同时保持车体或重物的重心的状态 车体总重量的重心和被支撑在车体上的被摄体位于车轮的旋转中心的上方。
    • 69. 发明授权
    • Ink cartridge and ink jet printer incorporating the same
    • 包含其的墨盒和喷墨打印机
    • US07325914B2
    • 2008-02-05
    • US11038580
    • 2005-01-21
    • Koji YamadaManabu Yamada
    • Koji YamadaManabu Yamada
    • B41J2/175
    • B41J2/17523B41J2/17513B41J2/17553B41J2/17556
    • A cartridge body is formed with a chamber storing ink and a recessed portion having an ink outlet port from which ink in the chamber flows out. An elastic gasket has a first through hole and is fitted into the recessed portion. A gasket stopper has a second through hole and is fitted into the recessed portion such that the gasket is pressed against an inner face of the recessed portion. A hollowed needle having a hole at a tip end thereof is inserted into the ink outlet port while passing through the first through hole and the second through hole and while enlarging the first through hole in order to supply the ink in the chamber to an ink jet recording head via the hole.
    • 盒体形成有容纳墨水的腔室和具有墨水出口的凹部,腔室中的墨从该墨水出口流出。 弹性垫圈具有第一通孔并嵌入到凹部中。 垫圈止动器具有第二通孔,并且嵌合到凹部中,使得垫圈被压靠在凹部的内表面上。 在其前端具有孔的中空针在通过第一通孔和第二通孔的同时插入到墨出口中,同时扩大第一通孔,以便将墨室中的墨供给喷墨 记录头通过孔。
    • 70. 发明申请
    • Piperidine derivatives
    • 哌啶衍生物
    • US20070185168A1
    • 2007-08-09
    • US11547810
    • 2005-04-07
    • Haruki TakaiShunji KunoriShiro ShirakuraKatsumi ShinodaAtsuko MizutaniKoji YamadaShinichiro TokiTomoyuki Nishikawa
    • Haruki TakaiShunji KunoriShiro ShirakuraKatsumi ShinodaAtsuko MizutaniKoji YamadaShinichiro TokiTomoyuki Nishikawa
    • A61K31/4439
    • C07D409/14
    • For example, a piperidine derivative represented by following formula (I) (wherein, —C(═O)-Z- represents —C(═O)—CH2—, —C(═O)—C(CH3)2—, —C(═O)—NH—, —C(═O)—O—, —C(═O)—S—, —C(═O)—CH2CH2—, —C(═O)—CH═CH—, —C(═O)—CH2O—, —C(═O)—CH2S—, —C(═O)—CH2CH2CH2— or —C(═O)—NR8CH2—; R1 represents a hydrogen atom, substituted or unsubstituted lower alkyl, or the like; R2 represents a hydrogen atom or hydroxy; R3 represents a hydrogen atom, substituted or unsubstituted lower alkyl, or the like; R5 represents a hydrogen atom, hydroxy, or the like; R6 represents a hydrogen atom, hydroxy, substituted or unsubstituted lower alkyl, or the like, etc.; R7 represents a hydrogen atom, halogen, substituted or unsubstituted lower alkyl, or the like; n and k each independently represents an integer of 0 to 2; and ---- represents a single bond, or a double bond together with R4, where in case ---- is a single bond, R4 represents a hydrogen atom, hydroxy, or the like) or a pharmaceutically acceptable salt thereof and the like having an antagonistic activity for a glutamic acid receptor (NR2B/NMDA receptor) of an N-methyl-D-aspartic acid (NMDA) type containing an NR2B subunit are provided.
    • 例如,由下式(I)表示的哌啶衍生物(其中,-C(-O)-Z-表示-C(-O)-CH 2 - , - C( - -C(= O)-NH-, - C(-O)-O - , - C(-O) - S - , - C(-O)-CH 2 CH 2 - , - C(-O)-CH-CH - , - C(-O)-CH O - , - C(-O)-CH 2 S - , - C(-O)-CH 2 CH 2 2-CH 2 - 或-C( - )-NR 8 CH 2 - ; R 1 - SUP>表示氢原子,取代或未取代的低级烷基等; R 2表示氢原子或羟基; R 3表示氢原子,取代或未取代的 低级烷基等; R 5表示氢原子,羟基等; R 6表示氢原子,羟基,取代或未取代的低级烷基,或 R 7表示氢原子,卤素,取代或未取代的低级烷基等; n和k各自独立地表示0〜2的整数;< U STYLE = “ SINGLE“> ----表示单键,或与R 4连接的双键,其中如果是单键,则R” 对于N-甲基-D-葡萄糖酸的谷氨酸受体(NR2B / NMDA受体)具有拮抗作用的氨基酸或其药学上可接受的盐等) 提供了含有NR2B亚基的天冬氨酸(NMDA)型。