Abstract: A dissimilar joint structure 10 according to the present invention is provided at a first metal member 6 and a second metal member 7 which are made of dissimilar metals to each other. The dissimilar joint structure 10 couples the first metal member 6 and the second metal member 7. An inserting groove 8a is formed at the first metal member 6. The second metal member 11 includes an inserting portion 9 which is able to be inserted into the inserting groove 8a. The first metal member 6 is joined to the inserting portion 9 with the inserting portion 9 inserted into the inserting groove 8a.

Abstract: A friction stir welding device for welding an article by means of a welding tool, includes: a tool holding section configured to hold the welding tool and rotate round a predetermined reference axial line; rotation driving unit configured to drive the tool holding section to rotate round the reference axial line; movement driving unit configured to drive the tool holding section to move along the reference axial line; and a car body loaded with the tool holding section, the rotation driving unit and the movement driving unit, the car body being configured to travel above or below the article.

Abstract: A movable object maneuver method wherein a destination point is set; wherein a thrust value is calculated in real time which minimizes or maximizes a performance index associated with one or more state variables and thrust required for a movable object to reach the destination point and which takes into account non-linear conditions inherent to the movable object; and wherein the movable object is moved based on the calculated thrust value.

Abstract: A friction stir welding device for welding an article by means of a welding tool, includes: a tool holding section configured to hold the welding tool and rotate round a predetermined reference axial line; rotation driving unit configured to drive the tool holding section to rotate round the reference axial line; movement driving unit configured to drive the tool holding section to move along the reference axial line; and a car body loaded with the tool holding section, the rotation driving unit and the movement driving unit, the car body being configured to travel above or below the article.

Abstract: Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.

Abstract: Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.

Abstract: Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.

Abstract: A movable object maneuver method wherein a destination point is set; wherein a thrust value is calculated in real time which minimizes or maximizes a performance index associated with one or more state variables and thrust required for a movable object to reach the destination point and which takes into account non-linear conditions inherent to the movable object; and wherein the movable object is moved based on the calculated thrust value.

Abstract: Force balance and moment balance associated with thrust of air and water craft equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders that minimize the performance index are calculated.