Mitsubishi Electric Corporation

Koji Shiratsuchi

Takuya Okahara

Akira Nakanishi

Kiyoshi Maekawa

Makoto Tokumaru

Masashi Asuka

Ryosuke Kawanishi

Haruhisa Okuda

Toshiyuki Hatta

Rintaro Nagaoka

Zhengyong Liu

Satoru Matsuoka

Takashi Nammoto

Kenta Kato

Nanase Haruo

Tetsuya Saeki

A spinning and sliding detection device in a train includes: a change detection unit that periodically acquires a first detected value from a speed sensor, calculates a first change amount, using the first detected values, periodically acquires a second detected value from an acceleration sensor, calculates a second change amount, using the second detected values, and selects a change mode from a plurality of change modes defined for determining whether spinning or sliding has occurred at the train, using the first change amount, the second change amount, a first threshold, and a second threshold and outputs the selected change mode; and a spinning and sliding determination unit that determines whether spinning or sliding has occurred at the train and determines whether an anomaly has occurred in either the speed sensor or the acceleration sensor, based on the change mode acquired from the change detection unit.

Spinning and sliding detection device and spinning and sliding detection method

A robot control device includes: a reliability computing unit that is inputted with a feature quantity obtained from a sensor signal indicating a measurement result obtained by an external sensor installed in a main body of a robot or a surrounding environment of the robot, and computes a reliability for the sensor signal on the basis of a temporal change or a spatial change of the feature quantity; a correction command value computing unit that computes a trajectory correction amount for correcting a trajectory of the robot on the basis of the reliability and correction information calculated on the basis of the feature quantity; and a command value generation unit that generates a location command value for the robot on the basis of a predetermined target trajectory of the robot and the trajectory correction amount.

Robot control device

A robot controller includes: axis motor control units that control motors for driving axes of a robot; and an action command generation unit that generates a first action command having the shortest action time when the robot is moved from an action start point to an action goal point without considering an obstacle, and selects, from among the axes, a major axis having the longest action time when the action is performed in accordance with the first action command. The first action command includes another axis command, and a major axis command, and the action command generation unit adjusts the other axis command so as to reduce an action time according to the other axis command and outputs a second action command including the major axis command and the adjusted other axis command and corresponding to a first trajectory when determining that the first trajectory avoids a clash between the robot and the obstacle.

Robot controller, robot control method, and storage medium storing robot control program

A degradation detection system includes: a storage that stores measured values of command pressure and measured values of response pressure; and a simulator that calculates, using a physical model, the response pressure in accordance with the command pressure, thereby obtaining a waveform of the calculated response pressure corresponding to a waveform of the command pressure in a case in which the command pressure is changed. A waveform identifier identifies a waveform of the calculated response pressure that matches a waveform of the detected response pressure. A degradation identifier identifies a degraded component of a pressure regulating valve from a value of parameter acquired by the waveform identifier and a normal range defined for the parameter.

Degradation detection system, brake control device, and degradation detection method

A sensor data input device obtains a plurality of sensor data sequences, each indicating time-series sensor values generated by measuring a work of a working subject using a sensor. A class data generator determines a plurality of intervals obtained by temporally dividing each sensor data sequence based on the sensor values, determines classes of the intervals, each class indicating a type of temporal variations in the sensor values included in one of the intervals, and generates a plurality of first class data sequences for each sensor data sequence, each first class data sequence indicating the intervals and the classes of the sensor data sequence. A class data linker associates the corresponding intervals having an identical class with each other, among the plurality of first class data sequences. A determiner calculates characteristic values of the intervals associated with each other.

Work analysis apparatus for analyzing work including series of actions performed by working subject

Disclosed is a calibration device including: a position information acquiring unit () for acquiring position information showing the position and the posture of control target equipment; a force information acquiring unit () for acquiring information about a force applied to the control target equipment from a detection result of a force sensor () disposed in the control target equipment; a first estimating unit () for estimating the force applied to the control target equipment from the acquired position information by using a physical model, to acquire estimated force information; and a second estimating unit () for estimating a linear or nonlinear model on the basis of the acquired position information, the acquired force information, and the acquired estimated force information.

Calibration device, calibration method, and control device

A robot control device includes: a measuring unit to measure a robot control state indicative of a position and a posture of the robot; a work area setting unit to store, for each of work processes, a work area that is defined by work movement of the worker between a start and an end of each of the work processes and includes a space a body of the worker occupies and to set the work area corresponding to the work process currently carried out by the worker based on a signal specifying the work process currently carried out by the worker; and a robot command generator to generate a motion command for the robot based on the work area and the robot control state. The generator varies the command for the robot based on whether the robot is present in the work area.

There is provided an automatic train operation system which can stop a train precisely at a stop target position without worsening ride quality even with the control system being a discrete system. The automatic train operation system comprises a relative distance measuring device to acquire information about a relative distance of the train relative to a stop position of a station to output average distance information that is the average of relative distances and a brake control device. The brake control device includes a sensor information holding unit to hold speed information and position information detected by sensors to output; a correction amount computing unit to compute a specifying value correction amount to output; and an instruction planning unit to compute a deceleration specifying value based on the specifying value correction amount and sensor information.

Automatic train operation system and brake control device

An interference check device includes a model-number upper-limit input unit to which a model upper-limit number of geometric models allocated to a modeling target of interference check is input, a modeling unit generating model candidates from the modeling target using geometric models equal to or less than the model upper limit number, a processing-computation-amount upper-limit setting unit setting a computation upper-limit amount of interference check based on a computation processing amount required for each process performed by a controller controlling the modeling target, a minimum-enclosure-volume-model determination unit determining a model candidate having smallest model enclosure volume as a model for the modeling target from the model candidates that can perform calculation processing of interference check with equal to or less than the computation upper-limit amount, and an interference check unit performing interference check between models using determined model.

Interference check device

In a force waveform of an assembled body having an elastic component assembled thereto, in order to specify a deformation start point or a deformation end point of the elastic component as easily as possible, an inspecting device includes: a force-waveform detection system that applies a load to a workpiece having an elastic component in the direction of action of the elastic component and acquires a force waveform; an inspection-parameter designation unit that acts as reception unit in order to receive an input of an arbitrary designated point during a process of deformation; and an inspection unit that calculates a local slope of the force waveform at the designated point, thereby specifying, on the basis of the local slope at the calculated designated point, a physical characteristic change point including the deformation start point or the deformation end point.

Inspecting device and inspecting method

A robot control apparatus includes a transformation-matrix generating unit that generates, on the basis of N first command values for learning per one robot, which are position-corrected command values for positioning a master robot and a slave robot on tracks of their respective robots during the synchronous driving, concerning the respective N command values for learning, transformation matrices among the command values for learning, a command-value storing unit that outputs a first command value for driving at each of M operation periods for defining the track of the master robot, a transformation-matrix -function generating unit and a command-value generating unit that interpolate the N transformation matrices and generate a transformation matrix at the each first command value for driving, and a command-value generating unit that causes the transformation matrices to act on the M first command values for driving and generates M second command values for driving of the slave robot.

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Tokyo, Japan

Koji Shiratsuchi