Abstract: A robot system includes a control device configured or programmed to evaluate a plurality of generated holding posture candidates based on an index including difficulty of interference of at least one of a robot arm or a hand with a surrounding object at a time at which a workpiece is held and generate a movement path.

Abstract: A path generator includes an object setter that sets an object model; a device setter that sets a device model as a model of a robot arm; a path generator that generates a path of the robot arm stepwise; and an interference determiner that performs interference determination on the object model and the device model after having moved along the path, based on a distance between the object model and the device model. If it is determined that there is a possibility of interference between the object model and the device model, at least one of the object setter or the device setter increases a density of point groups of the point group model, and performs interference determination by using the point group model with the increased density of the point groups. If determined that that there is no possibility of interference, the path generator generates a next path.

Abstract: An electric power generating apparatus for use in an aircraft is an electric power generating apparatus connected through an emergency cut-off device to a gear box such that the gear box can transmit power to the electric power generating apparatus, the gear box being configured to decrease speed of rotational power of an aircraft engine. The electric power generating apparatus includes: a manual transmission configured to change the speed of the rotational power transmitted from the emergency cut-off device and including a plurality of gear stages; and an electric power generator to which the rotational power which has been changed in speed by the manual transmission is transmitted.

Abstract: An electric power generation controller for use in an aircraft is a controller of an electric power generating system configured such that: a manual transmission changes speed of rotational power of an aircraft engine; a continuously variable transmission changes the speed of the rotational power which has been changed in speed by the manual transmission; and the continuously variable transmission transmits the rotational power to an electric power generator.

Abstract: There is provided a toroidal continuously variable transmission capable of ensuring processability and conveyability of a power roller inner ring while reducing oil leakage from an inner end surface of the power roller inner ring and a decrease in rigidity of the power roller inner ring. A power roller 40 of the toroidal continuously variable transmission includes a power roller inner ring 50 sandwiched between both disks 1 and 2, a power roller outer ring 60 that is provided in a trunnion 35 and rotatably supports the power roller inner ring 50, and an inner ring hole 52 provided in the power roller inner ring 50 so as to extend in an axial direction of the power roller inner ring 50, in which an end surface hole 58 communicating with an inner ring hole 52 is provided in an inner end surface 54 of the power roller inner ring 50, and the end surface hole 58 is closed by a closing member 80 separate from the power roller inner ring 50.

Abstract: A toroidal continuously variable transmission includes a rotating shaft, a pair of discs, at least one power roller, and at least one bearing arranged between the rotating shaft and a casing. At least one of the pair of discs includes: a disc main body including a concave surface opposed to the power roller; and a cylindrical portion projecting from the disc main body along the rotation axis toward an opposite side of the power roller. The cylindrical portion is inserted between the bearing and the rotating shaft.

Abstract: An electric power generation controller for use in an aircraft is a controller of an electric power generating apparatus including a manual transmission configured to change speed of rotational power of an aircraft engine, transmit the rotational power to an electric power generator, and switch a gear stage by a friction clutch pressed by an actuator. The electric power generation controller includes a manual transmission control section configured to control the manual transmission. The manual transmission control section includes: a shift command section configured to output a shift signal which switches the gear stage of the manual transmission; and a clutch control section configured to, when switching the gear stage of the manual transmission, control clutch pressure of the actuator such that the friction clutch becomes a half-engaged state.

Abstract: A transmission controller of a toroidal continuously variable transmission includes a gain setting unit that adjusts a gain of closed-loop control for calculating a target value of a roller position in accordance with a change in a rotation speed of a disc in a first rotation speed range and a second rotation speed range higher than the first rotation speed range. The gain setting unit changes, in the first rotation speed range, the gain so that sensitivity of the closed-loop control decreases with an increase in the rotation speed, and changes, in the second rotation speed range, the gain so that a rate of decrease in the sensitivity of the closed-loop control with the increase in the rotation speed is smaller than that in the first rotation speed range.

Abstract: A power generation controller of an aircraft includes a low-temperature start-up control section and a power generation control section. When it is determined that an oil temperature of a hydraulic actuator configured to change an operation position of a speed change element of a hydraulic transmission satisfies a predetermined low-temperature condition when starting up an aircraft engine, the low-temperature start-up control section sets a power generator to a power non-generating state and controls the hydraulic actuator such that the speed change element is positioned at an acceleration side of a median in a speed change range. When it is determined that the oil temperature satisfies a predetermined low-temperature start-up completion condition, the power generation control section sets the power generator to a power generating state and controls the hydraulic actuator in accordance with a rotational frequency of the aircraft engine.

Abstract: An information processing device includes position detecting circuitry configured to detect a commanded position that is a position of an object commanded on a screen where the object is projected, size detecting circuitry configured to detect a commanded size that is a size of the object commanded on the screen, positional information detecting circuitry configured to detect a position of an actual object based on the commanded position, size information detecting circuitry configured to detect a size of the actual object based on the commanded size, index processing circuitry configured to generate a position index indicative of the commanded position and a size index indicative of the size of the actual object, and display the position index and the size index on the screen, and output circuitry configured to output object information including information on the position and the size of the actual object.

Abstract: A pressing device for a toroidal continuously variable transmission, comprises: a disk having a toroidal curved surface and a first cam surface; a cam plate having a cylindrical portion, and an outward facing flange portion having a second cam surface; and a plurality of rolling bodies. The cylindrical portion has a cylinder portion, a projection projecting inward in the radial direction in one axial end portion of the cylinder portion and having a step surface, and an oil supply passage. At least a part of a radial inside opening of the oil supply passage opens to a portion of the cylinder portion positioned further on the other side in the axial direction than the step surface. The oil supply passage has an oil-passage hole penetrating the cylinder portion and an oil-passage groove continuous with the oil-passage hole and recessed from the step surface.

Abstract: The present disclosures relates to a toroidal continuously variable transmission which includes: a rotating shaft; a pair of outside disks supported by a rotating shaft to rotate in synchronization with the rotating shaft; an inside disk supported by the rotating shaft to rotate relative to the rotating shaft; a pair of rolling bearing units, each including a radial rolling bearing capable of supporting an axial load to support the inside disk so that relative rotation with respect to the rotating shaft is possible; a plurality of power rollers arranged between the axial inside surfaces the outside disks and the axial outside surfaces of the inside disk to transmit power between them; and a preloading mechanism elastically pressing the outer ring of the radial rolling bearing in the axial direction.

Abstract: Provided is a pressing device for a toroidal continuously variable transmission that is capable of sufficiently supplying lubrication oil to all rollers inside a pocket, and is capable of suppressing the occurrence of fretting wear on the rolling surfaces of the rollers, a first cam surface and a second cam surface. An oil passage 28 is provided for supplying lubrication oil to the inside of each pocket 25 in the inside portion in the radial direction of a retainer 14 that holds a plurality of more than one roller 13 arranged in a row in the radial direction. The center axis O29 of a discharge port 29 that is provided on an end portion on the downstream side of the oil passage 28 and that opens to the inside surface in the radial direction of the pocket 25 is inclined toward the front side in the rotational direction of the retainer 14 with respect to the center axis of the pocket 25.

Abstract: An electric power generation controller for use in an aircraft is a controller of an electric power generating apparatus including a manual transmission configured to change speed of rotational power of an aircraft engine, transmit the rotational power to an electric power generator, and switch a gear stage by a friction clutch pressed by an actuator. The electric power generation controller includes a manual transmission control section configured to control the manual transmission. The manual transmission control section includes: a shift command section configured to output a shift signal which switches the gear stage of the manual transmission; and a clutch control section configured to, when switching the gear stage of the manual transmission, control clutch pressure of the actuator such that the friction clutch becomes a half-engaged state.

Abstract: An electric power generating apparatus for use in an aircraft includes: a manual transmission configured to change speed of rotational power of an aircraft engine and including a plurality of gear stages; and an electric power generator to which the rotational power which has been changed in speed by the manual transmission is transmitted. The manual transmission includes: a planetary gear mechanism; an input shaft connected to a carrier holding a planetary gear of the planetary gear mechanism; an output shaft connected to a sun gear of the planetary gear mechanism; a one-way clutch which is sandwiched between the input shaft and the output shaft and by which the rotational power of the input shaft is transmitted to the output shaft; and a brake connected to a ring gear of the planetary gear mechanism.

Abstract: An electric power generation controller for use in an aircraft to control an electric power generating apparatus including a manual transmission which changes speed of rotational power of an aircraft engine, transmits the rotational power to an electric power generator, and includes a plurality of gear stages. The electric power generation controller includes: a rotational frequency receiving section configured to receive an input rotational frequency or an output rotational frequency of the manual transmission as a monitoring rotational frequency; and a manual transmission control section configured to, when the monitoring rotational frequency exceeds a first threshold, output a shift-down signal to perform shift-down from an upper stage to a lower stage, and when the monitoring rotational frequency falls below a second threshold, output a shift-up signal to perform shift-up from the lower stage to the upper stage, the first threshold being set to a value larger than the second threshold.

Abstract: An electric power generating apparatus for use in an aircraft is an electric power generating apparatus connected through an emergency cut-off device to a gear box such that the gear box can transmit power to the electric power generating apparatus, the gear box being configured to decrease speed of rotational power of an aircraft engine. The electric power generating apparatus includes: a manual transmission configured to change the speed of the rotational power transmitted from the emergency cut-off device and including a plurality of gear stages; and an electric power generator to which the rotational power which has been changed in speed by the manual transmission is transmitted.

Abstract: An electric power generation controller for use in an aircraft is a controller of an electric power generating system configured such that: a manual transmission changes speed of rotational power of an aircraft engine; a continuously variable transmission changes the speed of the rotational power which has been changed in speed by the manual transmission; and the continuously variable transmission transmits the rotational power to an electric power generator.

Abstract: A power generation controller of an aircraft includes a low-temperature start-up control section and a power generation control section. When it is determined that an oil temperature of a hydraulic actuator configured to change an operation position of a speed change element of a hydraulic transmission satisfies a predetermined low-temperature condition when starting up an aircraft engine, the low-temperature start-up control section sets a power generator to a power non-generating state and controls the hydraulic actuator such that the speed change element is positioned at an acceleration side of a median in a speed change range. When it is determined that the oil temperature satisfies a predetermined low-temperature start-up completion condition, the power generation control section sets the power generator to a power generating state and controls the hydraulic actuator in accordance with a rotational frequency of the aircraft engine.

Abstract: A position controller includes: an oil temperature acquisition unit that acquires information on an oil temperature of a hydraulic actuator; a position acquisition unit that acquires an actual value of an operation position of an object; a position control unit that calculates an operation command value for a control valve of the hydraulic actuator by closed-loop control so as to reduce a deviation between a target value of the operation position of the object and the actual value; and a gain setting unit that changes at least one gain of the closed-loop control so that sensitivity of the closed-loop control increases as the oil temperature decreases.