Abstract: A power supply unit includes: a plurality of secondary batteries connected in series; limiting resistors connected to individual electrodes of the plurality of secondary batteries; a voltage detection circuit detecting inter-terminal voltages of each of the plurality of secondary batteries based on potentials obtained from the plurality of secondary batteries through the limiting resistors; a control circuit specifying one of the secondary batteries to be discharged based on the inter-terminal voltages of the plurality of secondary batteries detected by the voltage detection circuit and sending a discharge instruction; and a discharge circuit allowing the specified secondary battery to discharge through the limiting resistors in response to the instruction from the control circuit.

Abstract: An apparatus includes means for holding data which pertain to specifications and data of a vehicle, means for obtaining information of a path the vehicle is to travel, which consists of position, orientation, and velocity data, and is given by point information, a path computing section for computing a path equation including equations of continuous straight lines and arcs and a velocity pattern, which pertain to automatic travel, on the basis of the held data and the path information, an absolute position orientation angle detection section for detecting the absolute position and absolute orientation angle of the vehicle, and means for controlling the steering unit to track the path equation on the basis of the path equation, and the absolute position and orientation angle, and controlling the drive unit to track the velocity pattern on the basis of the velocity pattern, and the vehicle velocity.

Abstract: A series compensator, connected in series to an AC transmission line, for compensating for an electric amount, such as a voltage, current, phase or impedance, of the AC transmission line, comprises a first capacitor and a second capacitor connected in series to each other and connected to the AC transmission line, and a compensation current generator connected in parallel to the first capacitor. This structure eliminates the need for a bypass transmission line to simplify the main transmission line structure, has an enhanced current controllability, reduces harmonics to be generated and realizes an economical way of ensuring a large compensation amount.

Abstract: An apparatus includes means for holding data which pertain to specifications and data of a vehicle, means for obtaining information of a path the vehicle is to travel, which consists of position, orientation, and velocity data, and is given by point information, a path computing section for computing a path equation including equations of continuous straight lines and arcs and a velocity pattern, which pertain to automatic travel, on the basis of the held data and the path information, an absolute position orientation angle detection section for detecting the absolute position and absolute orientation angle of the vehicle, and means for controlling the steering unit to track the path equation on the basis of the path equation, and the absolute position and orientation angle, and controlling the drive unit to track the velocity pattern on the basis of the velocity pattern, and the vehicle velocity.

Abstract: A series compensation generator SCG is installed in a transmission line that links various substations SS and the transmission capability of the system as a whole can be increased by regulating the equivalent reactance of the transmission line. Series compensation generator SCG generates a voltage of which the phase angle is shifted substantially 90° in relation to the current flowing in the transmission line, and it also generates a voltage that compensates the voltage drop due to the equivalent reactance. Also, when an electrical fluctuation phenomenon (power oscillation) occurs in the transmission line, it is possible speedily to suppress the power oscillation by detecting the power fluctuation of the transmission line and controlling the compensating voltage of series compensation generator SCG so that it suppresses that power fluctuation.

Abstract: The controller for a power converter of the present invention:calculates the range number in which the voltage command vector for a multi-level converter is present;rotates the voltage command vector through a specified angle;performs coordinate transformation of that vector to a vector in an oblique coordinate system which takes the vector in the a axis direction and a vector which has been rotated through a specified angle anti-clockwise from the a axis as two unit vectors;splits the converter output-enabled portion of the vector diagram of the -30 degrees +30 degrees range of the spatial vector diagram in which output vector is positioned, which has undergone oblique coordinate transformation, into square-shape patterns so that the outputs vector is positioned in the upper left/the lower right/both the lower left and upper right of each square-shape pattern;splits any square-shape pattern which holds the output vector in both its lower left and its upper right into two triangular domains by a segment which

Abstract: A switching module, including a first self-turn-off device, a second self-turn-off device connected in series with the first self-turn-off device, a first diode connected in antiparallel with the first self-turn-off device, a second diode connected in antiparallel with the second self-turn-off device, and a third diode with its cathode connected to a connecting point of the first and second self-turn-off devices. The switching module further includes a first external terminal connected to a positive side terminal of the first self-turn-off device, a second external terminal connected to a negative side terminal of the second self-turn-off device, a third external terminal connected to an anode of the third diode, a first external control terminal connected to a control signal terminal of the first self-turn-off device, and a second external control terminal connected to a control signal terminal of the second self-turn-off device.

Abstract: A switching module, including a first self-turn-off device, a second self-turn-off device connected in series with the first self-turn-off device, a first diode connected in antiparallel with the first self-turn-off device, a second diode connected in antiparallel with the second self-turn-off device, and a third diode with its cathode connected to a connecting point of the first and second self-turn-off devices. The switching module further includes a first external terminal connected to a positive side terminal of the first self-turn-off device, a second external terminal connected to a negative side terminal of the second self-turn-off device, a third external terminal connected to an anode of the third diode, a first external control terminal connected to a control signal terminal of the first self-turn-off device, and a second external control terminal connected to a control signal terminal of the second self-turn-off device.