Oaki
Daisuke Oaki, Toyota JP
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20120078513 | MAP IMAGE DISPLAY DEVICE, MAP IMAGE DISPLAY METHOD, AND COMPUTER PROGRAM - Map image display devices, methods, and programs display a map image in a map display are, and at a prescribed timing, change to a first display mode in which an auxiliary image different from the map image is displayed in a specific area that is part of the map display area, and a portion of the map image corresponding to a first target area is displayed in a part of the display area that excludes the specific area. In response to a prescribed user operation, the devices, methods, and programs read map data of a second target area adjacent to the first target area, and change to a second display mode in which the auxiliary image is removed from the specific area and the map image is expanded into the specific area based on the map data of the second target area. | 03-29-2012 |
Junji Oaki, Kawasaki-Shi JP
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20090024250 | Mobile Robot and method for controlling mobile robot - A mobile robot includes: a main body; a drive unit that moves the main body; a contact force detecting unit that detects a contact force acting against an obstacle; and a controller that controls the drive unit to move the main body toward a target object under a condition that the contact force detected by the contact force detecting unit is in a predetermined range. | 01-22-2009 |
20140046483 | ROBOTIC CONTROL APPARATUS - According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system. | 02-13-2014 |
Junji Oaki, Kanagawa-Ken JP
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20120022690 | ROBOT CONTROL APPARATUS - In an embodiment of the present invention, with the purpose of more accurately calculating a disturbance torque generated by an external force acting on a robot, friction parameters contained in algorithms, such as a friction coefficient and a dead-zone threshold value, are dynamically changed based on the mode of operation, the operation speed, and the like. In this manner, a drive torque is estimated with high accuracy. | 01-26-2012 |
20120150347 | ROBOT CONTROLLING DEVICE - A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount. | 06-14-2012 |
20130073085 | ROBOT CONTROL APPARATUS, DISTURBANCE DETERMINATION METHOD, AND ACTUATOR CONTROL METHOD - A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period. | 03-21-2013 |
Junji Oaki, Kawasaki Kanagawa JP
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20150039128 | ROBOT CONTROL DEVICE - A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia. | 02-05-2015 |
Junji Oaki, Tokyo JP
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20130073084 | ROBOT CONTROL APPARATUS - A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix. | 03-21-2013 |
Junji Oaki, Kanagawa JP
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20090245619 | IMAGE DENSITY-ADAPTED AUTOMATIC MODE SWITCHABLE PATTERN CORRECTION SCHEME FOR WORKPIECE INSPECTION - An image correction device for use in a pattern inspection apparatus is disclosed, which has automatic adaptability to variations in density of a pattern image of a workpiece being tested. The device is operable to identify a two-dimensional (2D) linear predictive model parameters from the pattern image of interest and determine the value of a total sum of these identified parameters. This value is then used to switch between a corrected pattern image due to the 2D linear prediction modeling and a corrected image that is interpolated by bicubic interpolation techniques. A pattern inspection method using the image correction technique is also disclosed. | 10-01-2009 |
20110060460 | ROBOT CONTROL APPARATUS - A robot control apparatus includes: a drive unit ( | 03-10-2011 |
20110218673 | ROBOT CONTROL APPARATUS - A robot control apparatus includes: a joint angular velocity estimation unit ( | 09-08-2011 |
Yoshinao Oaki, Tokyo JP
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20090093726 | CARDIOVASCULAR ULTRASOUND PROBE AND ULTRASOUND IMAGE SYSTEM - An ultrasound image system includes: an ultrasound probe; a signal-transmitting-and-receiving section for transmitting signals to the ultrasound probe and receiving signals from the ultrasound probe; and an image-displaying section for displaying an ultrasound image obtained by means of the signal-transmitting-and-receiving section, wherein the ultrasound probe includes: a tip section which is provided with: a plurality of ultrasound-wave-transmitting sections for transmitting ultrasound waves to an tissue; and a plurality of ultrasound-wave-receiving sections for receiving signals reflected by the tissue and obtained by means of the ultrasound-wave-transmitting section; and a flexible catheter tube provided with: a first lumen capable of inserting an instrument for treating the tissue from a proximal end section of the ultrasound probe therethrough and exposing the instrument at a position facing the tip section; and a second lumen having an maneuvering wire inserted therethrough and being capable of moving the tip section. | 04-09-2009 |
Yuya Oaki, Yokohama-Shi JP
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20140295178 | METHOD FOR PRODUCING A PARTICLE CONTAINING POROUS SILICA, POROUS SILICA, AND A PARTICLE CONTAINING POROUS SILICA - Provided is a process for producing satisfactory particles held in porous silica. The process comprises (a) the step of preparing porous silica, (b) the step of bringing the porous silica into contact with a liquid which contains either a metal or a compound that has the metal as a component element and infiltrating the liquid into the pores of the porous silica, and (c) the step of subjecting, after the step (b), the impregnated porous silica to a heat treatment to thereby form fine particles comprising the metal or the metal compound in the pores of the porous silica. When porous silica is synthesized by hydrolyzing an alkoxysilane in a solvent-free system, it is possible to synthesize porous silica having a fine pore diameter. Use of this porous silica as a template facilitates formation of particles (e.g., W, Cu, Cr, Mn, Fe, Co, or Ni or an oxide of any of these metals) that show peculiar properties not observed in the bulk material. | 10-02-2014 |