Hitachi, Ltd.

Hitachi Industries Co., Ltd.

Kazuhiro Umekita

Masatsugu Kametani

Toshihiko Horiuchi

Yasuyuki Momoi

Masahiko Inoue

Takao Konno

Wataru Yamagishi

Masaharu Sugano

Yuuji Tadano

Kazutoshi Kan

Terunobu Funatsu

Yoshihiro Dozono

A top end portion of a medical manipulator has a surgical device accessible to a diseased area of a patient. In the manipulator, a pair of rolling members opposing to each other is provided. One of the pair of the rolling members is rolled by a flexible wire relative to the other rolling members. A plate maintains a distance between rotation centers of the pair of the rolling members constant. A pair of gears are held coaxially with the pair of the rolling members respectively, and engaged with each other. A link rotates the gear on an opposite side to a surgical device.

Surgical operation apparatus and manipulator for use therein

In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

Master-slave manipulator system and this operation input devices

In a hybrid vibration experiment of the structure, while shaking an actual model simulating a portion of the structure, vibration response analysis of a numerical model simulates the remaining portions of the structure using a computer. Loading members are provided neighboring the actual model. A plurality of vibrators vibrates the actual model through the loading members. The vibrators are controlled so that, not a point displacement but, a distributed displacement is loaded on the actual model.

Vibration testing apparatus and vibration testing method

The testing performs a vibration excitation testing of a part of the structure, performs a numerical calculus of vibration response of the other parts of the structure, and calculates the vibration response of a whole of the structure by combining these two methods. Testing includes calculating a position of a point of exciting force on the basis of vibration exciting, and calculating a reaction force on the basis of a load detected and the position of the point of exciting force. Then, a displacement of a numerical model is computed by using the reaction force calculated and a known external force, and calculating a vibration exciting machine displacement command value on the basis of the displacement. A drive drives the vibration exciting on the basis of an output thereof. Vibration excitation is performed in the translational direction as well as the rotational direction.

Vibration exciting apparatus and vibration testing apparatus for structure using same

A CPU system having a built-in cache memory system in which a write-only port for coherence control from the common system side and an access port from the CPU side are isolated through a multi-port configuration of the cache memory system inside CPU. A common memory on the common side too, uses a 2-port system structure with the CPU system in the form of a broadcast type connection form.

Realtime parallel processor system for transferring common information among parallel processors to a cache memory system

The present invention discloses a testing system and a testing method for a structure which tests a structure made of a test piece structure and a numerical model virtually connected to the structure. A simulated structure including a frame, an actuator and a reaction force measuring device is mounted on a foundation on which a shaking table is also mounted. Only the test piece structure is mounted on the shaking table. The motion of the shaking table which is generated at the time of shaking the test piece structure using the shaking table and the actuator is measured by a shaking table motion measuring device, while the reaction force generated by the test piece structure is measured by a reaction force measuring device. Using these measured values and the numerical model stored in a digital computer, the motion of the test piece structure after a predetermined period for the motion of the simulated structure is calculated. The actuator and the shaking table are driven so as to make this calculated motion.

Testing system and testing method for structure

Multiple degree of freedom vibration exciting apparatus and system

A communication control apparatus includes a pair of communication controllers each having a dual port RAM (DPR) with an interruption request generating function. A master processor system is connected to one port of the DPR in one of the communication controllers. A slave processor system is connected to one port of the DPR in the other communication controller. A channel controller is connected to each of the other port of the DPR in one communication controller and to the other port of the other communication controller, respectively. Both of the channel controllers are coupled by a communication channel. Both of the communication controllers mutually transfer data on the communication channel so that the contents of the DPR in the pair of communication controllers always coincide, so that the master processor system and the slave processor system operate as if they were connected by one DPR.

Communication control apparatus between processor systems

A method of automatically determining an order of transmitting a packet for a local area network using the CSMA/CD protocol. In transmitting a packet from an arbitrary station I on the local area network while another station P is transmitting a packet, the packet of the station I is automatically classified into three cases. The first, denoted by letter [A]a packet whose transmission process is not completed, is at the station I before a requested time if transmission starts after the transmission packet of the other station P is transmitted completely. The second, denoted by letter [B], is a packet whose transmission process does not completed at the station I before a requested time if transmission of another station Q is permitted after the transmission packet of the other station P is transmitted completely. The third, denoted by letter [C], is a packet which does not belong to cases [A] and [B]. A transmission process of the packet is performed in accordance with the classification result.

Method of automatically determining a transmission order of packet in a

A circuit board includes a circuit-conductor layer, a ground layer and a power source layer superposed in a multilayer form through dielectric layers therebetween. A heat conduction through inside of the circuit board is enhanced so that circuit chips mounted on the circuit board can be cooled down to a level capable of operating normally. The circuit board can be formed to be compact. In order to enhance the heat transfer in the circuit board, at least one of the ground layer and power source layer is formed in a multilayer manner. It is preferable to form these layers at a thickness larger than that of the circuit-conductor layer. Further, preferably, the pin of the chip mounted on the board and at least one of the ground layer and power supply layer are connected to each other in such a manner as to enhance the heat conduction.

Circuit board capable of efficiently conducting heat through an inside

A program parallelizing apparatus for generating from a source program to be executed an object program which is capable of being processed in parallel by a plurality of processors constituting a multi-processor which includes a communication mechanism for allowing inter-processor communication and a synchronization mechanism for allowing the processings to proceed in parallel among the processor through coordination. Object programs susceptible to parallel processing by the multi-processor system with high efficiency can be generated at a high speed in correspondence to various source programs universally independent of the types of processors.

Program parallelizing apparatus capable of optimizing processing time

A circuit board includes a circuit-conductor layer, a ground layer and a power source layer superposed in a multilayer form through dielectric layers therebetween, A heat conduction through inside of the circuit board is enhanced so that circuit chips mounted on the circuit board can be cooled down to a level capable of operating normally, The circuit board can be formed to be compact, In order to enhance the heat transfer in the circuit board, at least one of the ground layer and power source layer is formed in a multilayer manner, It is preferable to form these layers at a thickness larger than that of the circuit-conductor layer, Further, preferably, the pin of the chip mounted on the board and at least one of the ground layer and power supply layer are connected to each other in such a manner as to enhance the heat conduction.

Circuit board, electronic circuit chip-mounted circuit board and circuit

A digital information transmission apparatus and an information transmission bus system thereof capable of quickly stabilizing a signal on a bus. The apparatus outputs to a bus, in a bus cycle identical to a bus cycle in which a digital information input system reads desired digital information, information items identical to the desired digital information read by the digital information input system respectively from the buffers of at least two digital information output systems of a plurality of digital information output systems.

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Tsuchiura, Japan

Kazuhiro Umekita