Abstract: Truing of a grinder is performed by irradiating a laser beam onto abrasive grains on the outermost periphery of the grinder from the tangential direction of the grinder. Truing of the grinder for adjusting the number of working abrasive grains and the shape of the abrasive grains involved in the actual machining is performed under a non-contact condition and at highly accurately, thereby enabling highly accurate and highly efficient machining.

Abstract: A steering control apparatus of a simple configuration is adaptable so as to construct a redundant system from an input to an output system at low cost in a reliable manner. A torque sensor detects a steering torque, and a motor (3) provides torque to a steering system. A motor drive circuit (56) drives the motor, and a steering control section (53a) calculates at least a target current for the motor based on the steering torque. A motor control section (53b) provides an instruction to the motor drive circuit (56) based on the target current. A steering control verification section (54a) verifies an operation of the steering control section (53a) based on the steering torque and the target current. A motor control verification section (54b) verifies an operation of the motor control section (53b) based on a predetermined state quantity of the motor drive circuit (56) or the motor (3).