Ishikawajima-harima Jukogyo Kabushiki Kaisha

Tokyo Keiki Company Limited

Tokimec Inc.

Sato Kogyo Co., Ltd.

Koichi Umeno

Takeshi Hojo

Yutaka Onishi

Kanshi Yamamoto

Takao Murakoshi

Kazuteru Sato

Yoshinori Kamiya

Yoshiharu Kiritani

Mutumi Takahashi

Kazuya Arai

Yasuke Kosai

Shigeyoshi Tagata

An antenna having a central axis is supported on a supporting member which in turn is supported on an azimuth gimbal. The antenna and the supporting member are rotatable around an elevation axis perpendicular to the central axis gimbal is supported on a base and is rotatable around an azimuth axis perpendicular to the elevation axis. A first gyro having an input axis parallel to the elevation axis is secured to the supporting member, and a second gyro having an input axis perpendicular to both the central axis and the elevation angle axis is secured to the supporting member. An accelerometer is provided for outputting a signal representative of an inclination angle of the central axis relative to a horizontal plane. An azimuth transmitter is provided for outputting a signal representative of a rotation angle of the azimuth gimbal around the azimuth axis. The difference between a signal corresponding to the altitude angle of the satellite and the signal of the accelerometer is fed to the torquer of the first gyro, while the output signal of the azimuth transmitter and the signals corresponding to the ship's heading azimuth and a satellite azimuth angle are fed to a torquer of the second gyro to thereby direct the central axis of the antenna to the satellite.

Antenna directing apparatus

Directional control of a shield excavator is automatically carried out merely by inputting a direction of rotational moment to which the excavator is directed and a magnitude of the moment.

Method and apparatus for controlling attitude of shield excavator

Growing community of inventors

Tokyo, Japan

Koichi Umeno