Abstract: A velocity estimation device including an acceleration sensor and a yaw rate sensor is provided. The velocity estimation device determines an initial velocity value of a mobile object based on a velocity estimation expression, an integrated value of acceleration detected by the acceleration sensor, and a relative azimuth calculated from detected yaw rates. The velocity estimation device estimates the velocity of the mobile object based on the initial velocity value and the integrated value of acceleration. In the velocity estimation expression, a magnitude of the velocity vector is constrained by the velocity of the mobile object and a time variation of a direction of the velocity vector is constrained by a time variation of the azimuth of the mobile object in the traveling direction.

Abstract: A travel distance estimation device is provided. The travel distance estimation device includes an estimated velocity determination unit that successively estimates an estimated velocity of a movable object based on an acceleration integrated value and a velocity initial value a travel distance calculation unit that successively calculates an estimated travel distance of the movable object based on the estimated velocity, and a past velocity correction unit that determines corrected past velocities by correcting pre-correction past estimated velocities so that the corrected past velocities are continuous with the velocity initial value determined this time. The pre-corrected past estimated velocities are the estimated velocities that were successively determined. The travel distance estimation device further includes a travel distance correction unit that recalculates based on the corrected past velocities an estimated travel distance.

Abstract: A travel distance estimation device is provided. The travel distance estimation device includes an estimated velocity determination unit that successively estimates an estimated velocity of a movable object based on an acceleration integrated value and a velocity initial value a travel distance calculation unit that successively calculates an estimated travel distance of the movable object based on the estimated velocity, and a past velocity correction unit that determines corrected past velocities by correcting pre-correction past estimated velocities so that the corrected past velocities are continuous with the velocity initial value determined this time. The pre-corrected past estimated velocities are the estimated velocities that were successively determined. The travel distance estimation device further includes a travel distance correction unit that recalculates based on the corrected past velocities an estimated travel distance.

Abstract: A velocity estimation device including an acceleration sensor and a yaw rate sensor is provided. The velocity estimation device determines an initial velocity value of a mobile object based on a velocity estimation expression, an integrated value of acceleration detected by the acceleration sensor, and a relative azimuth calculated from detected yaw rates. The velocity estimation device estimates the velocity of the mobile object based on the initial velocity value and the integrated value of acceleration. In the velocity estimation expression, a magnitude of the velocity vector is constrained by the velocity of the mobile object and a time variation of a direction of the velocity vector is constrained by a time variation of the azimuth of the mobile object in the traveling direction.

Abstract: A vehicle control device includes travel condition detection devices configured to detect conditions around a vehicle and performs travel control of the vehicle according to the conditions around the vehicle by controlling a plurality of actuators according to information detected by the travel condition detection devices. The vehicle control device has a plurality of the travel condition detection devices. A control amount of at least one of the actuators, from among the plurality of actuators, is restricted according to reliability of a plurality of pieces of the information detected by the plurality of travel condition detection devices.

Abstract: A vehicle control device includes travel condition detection means for detecting conditions around a vehicle and performs travel control of the vehicle according to the conditions around the vehicle by controlling a plurality of actuators according to information detected by the travel condition detection means. The vehicle control device has a plurality of the travel condition detection means. A control amount of at least one of the actuators, from among the plurality of actuators, is restricted according to reliability of a plurality of pieces of the information detected by the plurality of travel condition detection means.

Abstract: An apparatus for manufacturing tonyu which has a cylindrical pan (17) having a larger diameter in relation to its depth, a cylindrical filter (44) fixed in the inner wall of the cylindrical pan (17), a hollow shaft (19 and 33) whereto the cylindrical pan (17) is fixed, a rotary cutter (16) whose axle being concentrically and rotatably supported by the hollow shaft (19), an inverted cup which is mounted on the bottom of the pan (17) to cover the rotary cutter (16) and has plural inlet openings at lower part, plural outlet openings at upper part and plural blades on its outside wall, a heater placed near said pan (17) for heating said pan, a driving motor (29), and a pair of one way clutchcoupled to said hollow shaft (19 and 33), in a manner that when the motor (29) is driven in one direction the cutter axle is driven holding the cylindrical pan (17) stopped to smash soybeans, and when the motor is driven in opposite direction the cylindrical pan (17) is rotated for dewatering the tonyu, and the motor is fixed

Abstract: A tofu making apparatus according to the present invention is designed for small business or for domestic use.The tofu making apparatus can automatically and consecutively produce uniform tofu in a simplified manner since such important factors for successful tofu as the boiling time period and the boiling temperature of the raw bean juice, the squeezing time period of the bean juice, the mixing time period with the coagulating agent, etc. can be automatically and stably controlled by the temperature sensor and the controller.

Abstract: A drive system for rotary drum type drying apparatus including an axial air-gap induction motor mounted in the substantially central portion of a rear surface member of an outer case containing a rotary drum, a blower mounted on a rotor or a rotor shaft of the motor, and a speed reduction gear unit having an input connected to the rotor shaft and an output connected to the central portion of a rear wall of the rotary drum for rotating the rotary drum by transmitting the torque of the motor thereto while reducing the rotational speed. The structural arrangement that the motor, the blower fan, the speed reduction gear unit and the rotary drum are aligned with one another by the rotor shaft permits the drying apparatus to have an overall compact size while minimizing the number of necessary components parts and enabling the drying apparatus to be used in a long service life.