Abstract: The invention relates to an adapter for a gravity pendulum, which adapter comprises a support for fastening a gravity body to be measured and at least two seat parts arranged at the support. The at least two seat parts comprise ellipsoid caps which can be held on a holder or on seating faces of a holder and are used to oscillate the adapter.

Abstract: Method for measuring torque in rotating-equipment, turbo-machinery, pumps, turbines, and compressors. The measured torque can be used as an input to control torque, power, or energy efficiency. The method can also measure force (or torque) in traversing-machinery or vehicles such as automobiles, ships, aircraft, bicycles and motorcycles. The method takes real-time rotating (or linear) speed measurements, applies the discrete form of equations of motion, captures the natural decay curve(s) of the machine to estimate the torque (or force) associated with the losses of the power sink, and then solves for the driving torque of the power source. The method relates to monitoring and control systems used to safely and efficiently operate rotating-equipment and traversing-machinery. The method can be used to determine a health index of a machine to make predictive and corrective maintenance, reliability, performance, safety, and efficiency-related decisions.

Abstract: There is provided a highly versatile center-of-gravity detecting system which can accurately detect the center of gravity of not only a container cargo vehicle but also various detection objects. It has a placement board for placing a detection object thereon; springs for supporting the placement board with an elastic force; an acceleration sensor for detecting a reciprocating motion of the detection object in an up-down direction; an angular velocity sensor for detecting a simple pendulum motion of the detection object around a roll direction oscillation central axis; and an X-axis restriction guide part for restricting a movement of the placement board in an X-axis direction, a data processing apparatus calculating a center-of-gravity height in the up-down direction from the roll direction oscillation central axis to the center of gravity of the detection object on the basis of the detection results by the acceleration sensor and the angular velocity sensor.

Abstract: An apparatus for stability testing of a wheeled assembly includes a straight fulcrum fixed relative to a horizontal surface. The straight fulcrum includes a straight edge parallel to the horizontal surface and located a first height above the horizontal surface. A first position mechanism includes a first position angle. The first position mechanism and straight edge define the first position angle as an obtuse angle and define a test area. A force mechanism vertically offset from the straight edge. The force mechanism applies a force to the wheeled assembly so when the wheeled assembly is positioned in a first position with one side of the wheeled assembly parallel to the first position angle, the force mechanism pulls the wheeled assembly in a direction toward a second position and the wheeled assembly rotates on a vertical axis. The second position includes a portion of the wheeled assembly contacting the straight edge.

Abstract: There is provided a highly versatile center-of-gravity detecting system which can accurately detect the center of gravity of not only a container cargo vehicle but also various detection objects. It has a placement board for placing a detection object thereon; springs for supporting the placement board with an elastic force; an acceleration sensor for detecting a reciprocating motion of the detection object in an up-down direction; an angular velocity sensor for detecting a simple pendulum motion of the detection object around a roll direction oscillation central axis; and an X-axis restriction guide part for restricting a movement of the placement board in an X-axis direction, a data processing apparatus calculating a center-of-gravity height in the up-down direction from the roll direction oscillation central axis to the center of gravity of the detection object on the basis of the detection results by the acceleration sensor and the angular velocity sensor.

Abstract: An information processing apparatus processes an input signal from a load controller including an input surface and a load detecting means for detecting a load value applied to the input surface. The information processing apparatus detects a center-of-gravity position of a load applied to the input surface of the load controller based on the input signal from the load detecting means. The information processing apparatus determines whether or not the load value applied to the load controller is smaller than a predetermined value, based on the load value detected by the load detecting means, and when the result of determination is positive, executes a menu operation process based on the center-of-gravity position.

Abstract: The spatial center of mass and a mass of an object can be determined by orientating the suspended object in at least two different spatial positions and measuring the orientation of the object in each of the different spatial positions the forces acting on the suspension devices because of the suspended object, the forces acting on the suspension devices being resolved into three independent force components. A center of area of the object and the associated force effect lines are determined for each of the at least two spatial positions, the center of area of the respective spatial position being determined with an inclined tension compensation of the suspension devices. The spatial center of mass is determined by superimposing at least two force effect lines.

Abstract: A method for obtaining the inertial properties of a movable rotating around a hinge line in an aircraft control surface. The method includes the steps of removing the mechanical connections of the actuators from the movable, leaving the movable free to rotate around its hinge line, further balancing the movable and calculating in a first approach its coarse static momentum. The method includes refining the coarse static momentum and obtaining simultaneously a frictional momentum of the movable; incorporating an elastic element on the control surface and configuring a second order mechanical system; inducing forced oscillations on the movable at a certain frequency, this frequency being increased until it is sensibly close to the resonance frequency of the movable to produce a wave response; calculating, from the wave response, the momentum of inertia of the movable.

Abstract: The invention relates to a method for evaluating the fatigue life of a polymer composition, including the following steps: i) providing a polymer composition; ii) manufacturing a plurality of axisymmetric test tubes cut from said composition; iii) subjecting said test tubes to a uniaxial traction fatigue test including a plurality of loading and unloading cycles for the test tube, the geometry of the test tube making it possible to subject the material to triaxial stresses, in the area of the test tube cut, simulating the stress conditions for the pressure sheath of a flexible pipe, particularly for off-shore use; and iv) predetermining the number of cycles until the rupture of said polymer composition. The invention is related to the use of said polymer composition selected through the predetermining method for manufacturing pipes or conduits to convey a pressurized and/or corrosive fluid.

Abstract: A method for estimating the moment of inertia of a rotating unit of a washing or washing-and-drying machine comprising the steps of: establishing one or more linear parameters; rotating the drum of the rotating unit in such a way as to reach a set of speeds of a pre-set value; once each speed of a pre-set value is reached, detecting the value of the torque provided to the rotating unit; and finally estimating the moment of inertia of the rotating unit through a linear combination of the torques detected and by means of the linear parameters.

Abstract: The method and apparatus for tracking a center of gravity (COG) of an air vehicle provides a precise calculation and updating of the COG by disposing a plurality of acceleration measuring devices on a circumference of one or more rings in a manner that establishes redundancy in acceleration measurement. A multivariable time-space adaptive technique is provided within a high speed digital signal processor (DSP) to calculate and update the position of the COG. The system provides the capability of executing a procedure that reduces dispersion in estimating angular velocities and lateral accelerations of a moving vehicle and corrects the vehicle's estimated angular velocities and lateral accelerations. In addition, a consistency check of the measured values from the acceleration measuring devices is performed to assist in fault detection and isolation of a faulty accelerometer in the system.

Abstract: A system and method are provided for measuring an object's center of gravity. The system includes a bed for supporting the object in an immovable position. The bed is tiltably attached to a frame that is supported near at least a first and a second edge by at least one force measuring device per edge. The bed is tiltable about one of the edges. A processor is connected to each force measuring devices and is configured to process force measurement data collected therefrom. The processor is configured to calculate the object's center of gravity along a z-axis based on a ratio of a cosine of the bed's angle of tilt multiplied by the center of gravity of the object along a y-axis in a flat configuration minus the center of gravity of the object along the y-axis in a tilted configuration to the sine of the angle of tilt.

Abstract: A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters.

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.

Abstract: An overturn prevention control device includes a bicycle robot capable of freely laterally inclining, an angular velocity sensor mounted on the bicycle robot such that a detection axis thereof extends in a substantially longitudinal direction of the bicycle robot, a motor mounted on the body such that a rotating shaft thereof extends in a substantially longitudinal direction of the body, a rotation sensor that detects a rotational position or a rotational speed of the motor, and an inertial rotor coupled to the rotating shaft of the motor. The overturn prevention control device corrects inclination of the bicycle robot by rotating the inertial rotor using the motor and by utilizing a reaction torque occurring when the inertial rotor is rotated. The overturn prevention control device further includes an inclination angle estimating portion arranged to estimate an inclination angle relative to a balanced state.

Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

Abstract: It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side.

Abstract: A dynamic inertial balancing system (10) uses a shaft (20) mounted to a base (16). A motor (46) or pulley system (42) imparts rotational torque on the shaft. A swing arm (18) is coupled to the shaft and moves through an arc in a horizontal plane in response to the rotational torque. A golf club is mounted to the swing arm. A timer (38) records the time for the swing arm to traverse the arc. The system balances the golf clubs within a set by measuring their moments of inertia. Each golf club is placed on swing arm 18 and the time is measured for the each golf club to complete the swing arc. If torque is constant for all clubs, then by comparing the moments of inertia, i.e. by comparing the time for each club to complete the swing arc, the club set can be balanced.

Abstract: A method for dynamically balancing a rotating system through strategic control model updates, wherein said system contains sensors and sensor measurements whose responses to control actions are used to represent the system through a control model, where said control model and sensor measurements are used to determine future control actions is disclosed. The performance of the control model is evaluated using sensor measurements and responses; the evaluation is further used to determine if it is necessary to update the control model. The ongoing performance of the current control model is anticipated utilizing rate-of-change metrics obtained by evaluating said sensor measurements and responses. When a new control model is needed, further evaluation is done to determine if sensor measurements and responses are adequate for updating the control model.

Abstract: Measurement is made of centrifugal force produced on a crankshaft to be tested that is being rotated about its rotation axis, to provide centrifugal force variation information of the crankshaft. Also, measurement is made of errors in respective rotational phases of crankpins of the crankshaft about rotation axes of the crankpins. Dummy information, comprising rotational unbalance data representative of rotational unbalance components to be removed from the centrifugal force variation information of the crankshaft, is created using the measured errors in the respective rotational phases. Then, an initial rotational unbalance value of the crankshaft is determined, using the dummy information and the centrifugal force variation information of the crankshaft.

Abstract: A medium feeding apparatus comprises a driving motor for moving a backup plate to press a medium against a pickup roller, piezoelectric elements for sensing slippage between the pickup roller and the medium which occurs while the roller rotates, and a controller for driving the driving motor to thereby vary a force for pressing the medium against the pickup roller, when the sensing means has sensed slippage between the pickup roller and the medium.