Abstract: A positioning apparatus for a mobile object for measuring a position at a current time includes a GPS positioning unit for updating a GPS operation data; an INS positioning unit with a detection value for INS positioning; a speed detector for detecting speed; an error corrector for correcting an error of the detection value, the position measured by the INS positioning and the speed; and a mobile object model operation unit for calculating a mobile object model; wherein an initial position is calculated using the GPS operation data, and the mobile object model operation unit measures the position to the current time when the current time coincides with a GPS updating time; and wherein the initial position is calculated without the GPS operation data, and the mobile object model operation unit measures the position to the current time when the current time does not coincide with a GPS updating time.

Abstract: To provide an attitude-angle detecting apparatus, which detects an attitude angle of a mobile object during movement with good accuracy by correcting an output value from an acceleration sensor, and to provide a method for the same. It is characterized in that it comprises an acceleration sensor 2 for measuring an acceleration being applied to a mobile object 7, a yaw-rate sensor 3 for measuring a yaw rate of the mobile object 7, a speed sensor 4 for measuring a speed of the mobile object 7, a mobile-component acceleration calculating means 5 for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed and calculating a mobile-component acceleration, a resultant force of the actual speed and the centrifugal force, and an attitude-angle calculating means 6 for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.

Abstract: An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.

Abstract: A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.

Abstract: A fuel cell control apparatus for controlling the supply amount of oxidizing gas to a fuel cell for producing electric energy by reaction between fuel gas and oxidizing gas includes a smoother for smoothing the output related quantity of the fuel cell, and an oxidizing gas feed determining device for determining the supply amount of the oxidizing gas on the basis of the output related quantity smoothed by the smoother, and therefore when controlling the amounts of the fuel gas and oxidizing gas depending on the output demand of the fuel cell, the substantial power generation efficiency is enhanced and the output is stabilized at the same time.

Abstract: A control apparatus for a reformer and a method of controlling the reformer are provided. The reformer gasifies a reformate fuel by a reforming reaction, supplies the obtained reformate gas to an energy converter to convert the reformate gas into energy of another form, and heats the reformate fuel by burning emission containing unreacted flammable gas produced in the energy converter. The control apparatus comprises a reforming amount assessing device for assessing the amount of the reformate fuel to be gasified, and an emission amount assessing device for assessing the amount of emission to be supplied into the reformer on the basis of the assessed amount of reformate fuel. When using the unreacted hydrogen gas generated in a fuel cell for heating the reformate fuel, the unreacted hydrogen gas and combustion aid gas can be controlled so that the reformate fuel is heated properly.

Abstract: A fuel reforming apparatus has a heating device, a reformer, and a CO oxidizing device. The heating device has a burning device for oxidizing fuel for burning with air and a vaporizing device for vaporizing the raw fuel. The control device for the fuel reforming apparatus has a raw fuel quantity determinator and a target temperature setting means for setting the target temperature of the raw fuel. The raw fuel quantity determinator determines a quantity of raw fuel supplied to the heating device. On the basis of the quantity of raw fuel supplied to the heating device by the determination of the raw fuel quantity determinator, the target temperature setting means sets a target temperature of the raw fuel. The heating device then heats the raw fuel to the predetermined target temperature by the control of the above-mentioned control device.

Abstract: A liquid dropping apparatus for a helicopter includes a tank for containing a liquid therein for attachment below a helicopter body. The tank has a lower surface with a concave portion formed by concaving a wall portion and has a liquid discharge port opened on a side surface of the concave portion. A door is provided on a bottom surface of the concave portion of the tank to pivotally swing around a side thereof closer to the bottom surface of the concave portion, thereby freely opening and closing the liquid discharge port. Drivers are provided for driving the door to open and close.

Abstract: A control system for a fuel cell to output an electric energy by a reaction between a fuel gas and an oxidizing gas. The control system comprises a humidifier for decreasing the humidification of the fuel cell when the pressure in the fuel cell is high, and for increasing the humidification of the fuel cell when the pressure in the fuel cell is low.

Abstract: A liquid dropping apparatus for a helicopter includes a tank for containing a liquid therein for attachment below a helicopter body. The tank has a lower surface with a concave portion formed by concaving a wall portion and has a liquid discharge port opened on a side surface of the concave portion. A door is provided on a bottom surface of the concave portion of the tank to pivotally swing around a side thereof closer to the bottom surface of the concave portion, thereby freely opening and closing the liquid discharge port. Drivers are provided for driving the door to open and close.

Abstract: A fuel reforming apparatus has a heating device, a reformer, and a CO oxidizing device. The heating device has a burning device for oxidizing fuel for burning with air and a vaporizing device for vaporizing the raw fuel. The control device for the fuel reforming apparatus has a raw fuel quantity determinator and a target temperature setting means for setting the target temperature of the raw fuel. The raw fuel quantity determinator determines a quantity of raw fuel supplied to the heating device. On the basis of the quantity of raw fuel supplied to the heating device by the determination of the raw fuel quantity determinator, the target temperature setting means sets a target temperature of the raw fuel. The heating device then heats the raw fuel to the predetermined target temperature by the control of the abovementioned control device.

Abstract: A carbon monoxide reducing device supplies oxygen to a reformate gas obtained through a reforming reaction so as to oxidize carbon monoxide contained in the reformate gas by means of the oxygen and thereby reduces a concentration of carbon monoxide contained in the reformate gas. This carbon monoxide reducing device is equipped with an oxygen supply amount controller designed to oxidize CO. The oxygen supply amount controller controls an amount of oxygen supplied to oxidize carbon monoxide contained in the reformate gas based on an amount of supply of fuel contributing to the reforming reaction. Thereby, the amount of oxygen for oxidizing carbon monoxide contained in the reformate gas is adjusted appropriately, and a high-quality reformate gas can be obtained.

Abstract: A control apparatus for a reformer and a method of controlling the reformer are provided. The reformer gasifies a reformate fuel by a reforming reaction, supplies the obtained reformate gas to an energy converter to convert the reformate gas into energy of another form, and heats the reformate fuel by burning emission containing unreacted flammable gas produced in the energy converter. The control apparatus comprises a reforming amount assessing device for assessing the amount of the reformate fuel to be gasified, and an emission amount assessing device for assessing the amount of emission to be supplied into the reformer on the basis of the assessed amount of reformate fuel. When using the unreacted hydrogen gas generated in a fuel cell for heating the reformate fuel, the unreacted hydrogen gas and combustion aid gas can be controlled so that the reformate fuel is heated properly.

Abstract: An air-amount-first fuel-amount-second control apparatus for an internal combustion engine having an electronically-controlled throttle valve. The response characteristic of the throttle valve is stored, a target value of the throttle valve opening degree corresponding to the operating position of the accelerator pedal is calculated, the intake air valve closing time of the fuel injection cylinder is calculated in accordance with the engine operating condition, the time required for reaching a target throttle valve opening degree is calculated from the target throttle valve opening degree and the stored value of the response characteristic of the throttle valve, the throttle valve opening degree as of the intake air valve closing time is calculated from the calculated time required for reaching the target throttle valve opening degree and the intake air valve closing time of the fuel injection cylinder.

Abstract: An electromagnetic force generated in a valve driving apparatus is rapidly decreased when a valve body moves to a position close to the end of its stroke so that a shock generated when the valve body reaches the end of the stroke is reduced. The valve body is movable between opposite ends of its stroke so as to open and close a valve provided in an internal combustion engine. An electromagnetic coil generates an electromagnetic force exerted on the valve body. A current supplied to the electromagnetic coil is controlled in accordance with an operational condition of the internal combustion engine. The current flowing in the electromagnetic coil is rapidly decreased when the valve body approaches the end of its stroke.

Abstract: An electromagnetic force generated in a valve driving apparatus is rapidly decreased when a valve body moves to a position close to the end of its stroke so that a shock generated when the valve body reaches the end of the stroke is reduced. The valve body is movable between opposite ends of its stroke so as to open and close a valve provided in an internal combustion engine. An electromagnetic coil generates an electromagnetic force exerted on the valve body. A current supplied to the electromagnetic coil is controlled in accordance with an operational condition of the internal combustion engine. The current flowing in the electromagnetic coil is rapidly decreased when the valve body approaches the end of its stroke.

Abstract: A valve driving apparatus has a second electric power source in addition to a main electric power source used in an internal combustion engine. The additional electric power source can be connected in series to the main electric power source so as to supply a high voltage to a solenoid used in the valve driving apparatus. The valve driving apparatus has an electromagnetic linear actuator for reciprocating a valve body of the electromagnetic valve apparatus so as to open or close the electromagnetic valve apparatus. The additional electric power source is provided separately from the main power source. A power source switching unit switches a voltage supplied to the electromagnetic linear actuator between the high voltage and a low voltage. The high voltage is generated by connecting the main electrical power source and the additional electric power source in series. The low voltage is generated by either one of the first electric power source and the second electric power source.

Abstract: A mechanism for mounting a camera on an aircraft, such as a helicopter, comprising a camera housing for holding a camera and a camera support section including a linkage system for mounting the camera housing to the underside of the aircraft in a manner permitting movement between a retracted position proximate the aircraft fuselage and an extended position below the plane of the landing skids to facilitate 360.degree. photography. The mechanism includes a motor driven actuator for positioning the support section between limit positions and a manual back-up system in the event that the motor driven system becomes inoperable.