Abstract: An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle includes a platform, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit. The traveling unit is mounted on the platform and controls the platform to travel. In a teaching travel mode, the teaching unit acquires subgoal points. The teaching unit stores planned traveling route data as an aggregate of the subgoal points. The curvature calculation unit calculates and stores a key curvature radius. In a reproduction travel mode, the control parameter adjustment unit adjusts a control parameter to determine an direction angle feedback control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit.

Abstract: A transmission device and reception device for digital data that have excellent resistance to noise are provided. An encoder (11-1) of this disclosure, included in a transmission device (1) of this disclosure, applies LDPC encoding to digital data using a unique check matrix for each code rate by using a check matrix in which, taking a check matrix initial value table established in advance for each code rate at a code length of 44880 bits as initial values, 1 entries of a partial matrix corresponding to an information length appropriate for a code rate of 93/120 are allocated in the column direction over a cycle of 374 columns. A demodulator (23) of this disclosure, included in a reception device (2) of this disclosure, decodes digital data encoded by the encoder (11-1).

Abstract: An autonomous moving body executes a mode in which an autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on an environment map, obtains position information of obstacles near the autonomous moving body, associates position information of the obstacles with times that the position information of the obstacles were obtained, stores the same in the storage unit as environment map restoration data, generates a travel schedule, and stores the same in the storage unit.

Abstract: A modulator, demodulator, transmission device, and reception device for digital data that have excellent resistance to noise are provided. A modulator according to one aspect of this disclosure includes a modulation mapper (15) that performs 16APSK mapping at a radius ratio of 2.87 when the LDPC code rate is 93/120. A modulator according to another aspect of this disclosure includes a modulation mapper (15) that performs 32APSK mapping at a second inner circle to first inner circle radius ratio of 2.87 and an outer circle to first inner circle radius ratio of 5.33 when the LDPC code rate is 93/120. The modulator is included in a transmission device (1) according to this disclosure. A demodulator according to this disclosure includes a quadrature detector (21) that performs demodulation corresponding to the modulator. The demodulator is included in a reception device (2) according to this disclosure.

Abstract: A transmission device and reception device for digital data that have excellent resistance to noise are provided. An encoder (11-1) of this disclosure, included in a transmission device (1) of this disclosure, applies LDPC encoding to digital data using a unique check matrix for each code rate by using a check matrix in which, taking a check matrix initial value table established in advance for each code rate at a code length of 44880 bits as initial values, 1 entries of a partial matrix corresponding to an information length appropriate for a code rate of 93/120 are allocated in the column direction over a cycle of 374 columns. A demodulator (23) of this disclosure, included in a reception device (2) of this disclosure, decodes digital data encoded by the encoder (11-1).

Abstract: In an autonomously traveling floor washer, a position estimating unit estimates position data. When a manual operation teaching mode is being executed, a taught data obtaining unit obtains taught position data and a taught cleaning condition at a taught data obtaining time. A cleaning schedule generation unit generates a cleaning schedule. When an autonomous cleaning mode is executed, a cleaning reproduction unit calculates and outputs a reproduced travel control command and a reproduced cleaning condition in an elapsed time based on the cleaning schedule. An elapsed time determining unit determines the taught data obtaining time and the elapsed time.

Abstract: A modulator, demodulator, transmission device, and reception device for digital data that have excellent resistance to noise are provided. A modulator according to one aspect of this disclosure includes a modulation mapper (15) that performs 16APSK mapping at a radius ratio of 2.87 when the LDPC code rate is 93/120. A modulator according to another aspect of this disclosure includes a modulation mapper (15) that performs 32APSK mapping at a second inner circle to first inner circle radius ratio of 2.87 and an outer circle to first inner circle radius ratio of 5.33 when the LDPC code rate is 93/120. The modulator is included in a transmission device (1) according to this disclosure. A demodulator according to this disclosure includes a quadrature detector (21) that performs demodulation corresponding to the modulator. The demodulator is included in a reception device (2) according to this disclosure.

Abstract: An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle includes a platform portion, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit. The traveling unit is mounted on the platform and controls the platform to travel. In a teaching travel mode, the teaching unit acquires subgoal points. The teaching unit stores planned traveling route data as an aggregate of the subgoal points. The curvature calculation unit calculates and stores a key curvature radius. In a reproduction travel mode, the control parameter adjustment unit adjusts a control parameter to determine an direction angle feedback control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit.

Abstract: Provided is a high-toughness coating film having excellent wear resistance, in particular, resistance to cracking and peeling. A high-toughness coating film (2) includes a composition containing a mixture of metallic chromium, in which nitrogen is dissolved, and Cr2N. A content of the nitrogen in the high-toughness coating film is 2.0 to 8.5 mass %, and IP, which is expressed by total of each diffraction peak intensity of Cr2N/(total of each diffraction peak intensity of metallic chromium+total of each diffraction peak intensity of Cr2N), is 3 to 40% when 2? is in a range of 30° to 90°, where ? is an incident angle in X-ray diffraction of the high-toughness coating film.

Abstract: An autonomous moving body executes a mode in which an autonomous moving body: outputs a motor control amount from travel commands input by an operator; estimates the position of the autonomous moving body on an environment map, obtains position information of obstacles near the autonomous moving body, associates position information of the obstacles with times that the position information of the obstacles were obtained, stores the same in the storage unit as environment map restoration data, generates a travel schedule, and stores the same in the storage unit.

Abstract: An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

Abstract: Provided is a high-toughness coating film having excellent wear resistance, in particular, resistance to cracking and peeling. A high-toughness coating film (2) includes a composition containing a mixture of metallic chromium, in which nitrogen is dissolved, and Cr2N. A content of the nitrogen in the high-toughness coating film is 2.0 to 8.5 mass %, and IP, which is expressed by total of each diffraction peak intensity of Cr2N/(total of each diffraction peak intensity of metallic chromium+total of each diffraction peak intensity of Cr2N), is 3 to 40% when 20 is in a range of 30° to 90°, where ? is an incident angle in X-ray diffraction of the high-toughness coating film.

Abstract: To provide a digital data transmitting apparatus and a digital data receiving apparatus that can realize, even when a transmission channel characteristic changes because of aged deterioration or the like of a relay, improvement of a reception performance following the change. A transmitting apparatus 1 generates a multiplexing frame formed by N slots including control information, data, outer parities, stuff bits, and inner parities and added with synchronization, pilot, and a transmission control signal and a parity and transmits data of the respective slots in a transmission system designated by the transmission control signal. In this case, pilot signals are symbols allocated to all signal points in order determined in advance for each of modulation schemes. A receiving apparatus 2 rewrites a phase error table 214 to calculate a phase error and performs synchronous detection according to the pilot signals. The receiving apparatus 2 also rewrites a likelihood table 235 to perform inner code decoding.

Abstract: An autonomous mobile body includes a storage unit arranged to store a size D2 of the autonomous mobile body, a laser range sensor arranged to acquire obstacle information, an obstacle identification unit arranged to identify, based on the acquired obstacle information, edge points indicating positions of both ends of a region in which an interfering obstacle exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to a moving target direction of the autonomous mobile body, a direction setting unit arranged to set a pull-off direction based on the size D2 of the autonomous mobile body and the edge points, and a mobile controller arranged and programmed to control the autonomous mobile body to move toward the pull-off direction.

Abstract: An autonomous mobile device that moves while autonomously avoiding zones into which entry should be avoided even if no obstacle exists therein includes a laser range finder that acquires peripheral obstacle information, a storage unit that stores an environment map that shows an obstacle zone where an obstacle exists, and a no-entry zone map which shows a no-entry zone into which entry is prohibited, a self-location estimation unit that estimates the self-location of a host device by using the obstacle information acquired by the laser range finder and the environment map, and a travel control unit that controls the host device to autonomously travel to the destination by avoiding the obstacle zone and the no-entry zone based on the estimated self-location, the environment map, and the no-entry zone map.

Abstract: An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

Abstract: Error diffusion processing is performed for each pixel in each region of an image divided into a plurality of regions, by scanning in both the first and second directions different to each other. A diffusion coefficient set for diffusing, to the pixel of interest to be processed, a quantization error generated upon quantizing a pixel near the pixel of interest is set in accordance with the position of the pixel of interest in scanning in the first direction in the region of interest. The pixel of interest to which an error has been diffused from a pixel position referring to the set diffusion coefficient set is quantized.

Abstract: An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

Abstract: A navigation apparatus is provided that is highly convenient for a user to view a map screen and a menu window. A display controller 15 determines a view mode of each of a map screen and a menu window, based on information about a travel condition of a moving object from a route search unit 12 and an own-vehicle location identification unit, when the menu window is displayed according to information entered from an input unit 10. A display map generator 16 generates a map screen according to information about the view mode from the display controller 15. A display menu generator 17 generates a menu window according to information about the view mode from the display controller 15. A display unit 21 displays the map screen from the display map generator 16 and the menu window from the menu generator 17.

Abstract: An autonomous mobile device is capable of taking action that is suitable to execute a task in accordance with a given situation includes and executes a predetermined task upon autonomously moving to a destination.