Murata Manufacturing Co., Ltd.

Shigeru Tsuji

Kenichi Shirato

Shigeki Fukunaga

Hiroaki Wada

Masayuki Kubo

Yuzo Higashiyama

Koji Kawai

Mitsuhiro Namura

Atsuhiko Hirata

Takanori Hayashi

Yoshitaka Hane

Kenichiro Maki

Mitsuru Kitagawa

Tomonari Watanabe

Koichi Yoshikawa

Takeshi Hashimoto

A CPAP apparatus according to the present disclosure includes a housing, a hose whose one end communicates with a connection portion, a fan configured to expel air flowing in from an intake port, from another end of the hose, a motor and a motor driving unit configured to rotationally drive the fan, a control unit configured to control the motor driving unit, and a flow rate sensor. The control unit includes a command generation unit configured to generate a command value of a rotation number of the fan such that a pressure to be expelled from the other end of the hose becomes a target pressure, and a command correction unit configured to correct the command value based on a flow rate value obtained by the flow rate sensor.

Cpap apparatus

A continuous positive airway pressure (CPAP) apparatus includes: a first unit including a first housing provided with a first flow path that connects a first inlet port and a first outlet port and in which an air blower is provided; and a second unit including a second housing provided with a second flow path that connects a second inlet port and a second outlet port. The first flow path between the first inlet port and the air blower includes a first silencer. The second flow path includes a second silencer. In a first use state where the second unit is attached to the first unit, the second outlet port is connected to the first inlet port. In a second use state where the second unit is not attached to the first unit, the first inlet port is opened to the outside.

Continuous positive airway pressure apparatus

CPAP apparatus

A blowing apparatus includes a blowing unit, a first circuit board, a second circuit board, a top casing, a middle casing, and a bottom casing. The bottom casing has an intake hole. The middle casing has a nozzle to which a tube is attached, and also has an exhaust hole inside the nozzle. The exhaust hole is connected to a mask, with the tube interposed therebetween. The blowing unit includes a fan and a motor configured to rotate the fan. The blowing unit is located in a region between the first circuit board and the second circuit board. The first circuit board intersects a rotation axis of the fan. The first circuit board covers the blowing unit as viewed from the top casing in plan view of the first circuit board.

Blowing apparatus

A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle &#x3b8;), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.

Ball-balancing robot

A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination anglebeing a value in an inclination sensor as being equal to an inclination angleof the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from &#x3b8;to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angleof the road surface to a target inclination angle determining unit.

Hand-propelled vehicle

A tire angular velocity controller () is input with a difference between a target value of a rotational angular velocity of 0 for main wheels () and a rotational angular velocity of the main wheels (), which is a differential value of a signal output from a main wheels rotary encoder (). The tire angular velocity controller () calculates an inclination angle for the main body () that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body () at the present time input from an inclination angle sensor () is input to a main body inclination angle controller ().

Inverted pendulum vehicle

Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion () is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller () shifts to a second control mode in which the rotation of main wheels () is driven and controlled so that an angle of the main body portion () with respect to the vertical direction becomes &#x3b8;' which is greater than &#x3b8;. In the second control mode, the main wheels () and an auxiliary wheel () are in contact with the ground.

Mobile body

In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.

Movement direction control apparatus and computer program

A pushcart in which a user can adjust a balance direction based on his/her own sense even on a slope. The pushcart includes a pair of wheels, driving units, a pair of wheels are supported on a main body unit in a rotatable manner, a grip portion provided on another side of the main body unit, and a support portion that is connected to the main body unit on one side so as to be capable of rotating in a pitch direction and supports assist wheels in a rotatable manner on another side. An angle formed between the main body unit and a direction orthogonal to the ground surface is estimated based on detected angle between the main body and the support portion. An attitude of the main body unit in the pitch direction is controlled based on a target pitch angle corrected using a correction value.

Pushcart

An overturn prevention control device for a two-wheel vehicle having a vehicle body, a front wheel, an actuator that steers the front wheel, a rear wheel, and a rear-wheel driving portion, includes an angular velocity sensor and a control unit arranged to output a steering angle command signal for controlling the actuator. The angular velocity sensor includes a detection axis, is mounted on the vehicle body such that the detection axis is downwardly inclined at a predetermined angle relative to a forward direction of the vehicle body, and detects an angular velocity about the detection axis. The angular velocity detected by the angular velocity sensor includes an angular velocity in a lateral direction of inclination and an angular velocity in an azimuthal direction. The zero-set error and offset noise are incorporated into the azimuth angle command. Thus, the two-wheel vehicle can be prevented from overturning.

Overturn prevention control device for two-wheel vehicle

A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.

Falling prevention controlling device and computer program

A load-control type actuator is provided, in which the impact load applied to a workpiece is reduced enabling damages in the workpiece to be small. A load-control-type actuator includes a nozzle which comes into contact with a workpiece, a nozzle holder for supporting the nozzle via a spring, and a voice-coil motor which can control a thrust driving force to the nozzle holder. The spring constant of the spring is set so that the spring reaction force of the spring within the response time of the voice-coil motor is reduced smaller than the maximum impact load when the nozzle touches the workpiece. The nozzle is suspended and supported by the spring and the initial load thereof is set to zero.

Load-control-type actuator

A linear actuator can obtain a roughly fixed load within a stroke range. The linear actuator comprises a fixed element, comprising a yoke and a magnet which is magnetized in the radial direction, and a moving element, comprising an electromagnetic coil and a bobbin which surrounds the magnet. A spring is provided for applying a force acting in opposition to the thrust direction acting on the moving element. A constant load stroke area is provided so that the characteristics of the opposite force of this spring balance the characteristics of the thrust force acting on the moving element. The constant load stroke area is an area where one end of the coil in the stroke direction is located in an outside position from one end of the magnet in the stroke direction, and the other end of the coil in the stroke direction is located in an inside position from both ends of the magnet in the stroke direction.

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Kyoto, Japan

Shigeru Tsuji