Abstract: According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current is when a motor shaft stops with a deviation, and a Coulomb friction compensation current ic in other circumstances. The static friction compensation current is is obtained by adding a compensation amount isr of a monotonically increasing ramp function to a compensation amount iss of a step function, and a step-function compensation amount ics is used as the Coulomb friction compensation current ic. Since the amount of friction compensation can be changed adaptively based on the data during positioning-control response, a motor shaft can be stabilized at a target angle without prominent accompanying vibration, even if the ambient temperature changes and the friction characteristics of the wave gear drive fluctuate.

Abstract: A method for controlling positioning of an actuator having a wave gear device uses an exact linearization technique to compensate effects relative to positioning control of a load shaft caused by the non-linear spring characteristics of the wave gear device. A plant model is constructed from the actuator, and linearized using the exact linearization technique; measurements are taken of non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model ?g(?tw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the model and motor position of the model when a load acceleration command is a command value are entered into a processor arranged as a semi-closed loop control system for controlling positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract: A halogen-free flame-retardant cable includes a multi-core twisted wire including a plurality of insulated wires twisted together, the plurality of insulated wires each including a conductor and an insulation layer on an outer periphery of the conductor, an inner layer formed on an outer surface of the multi-core twisted wire, and an outer layer formed on the inner layer. The outer layer includes a resin composition including not less than 30 parts by mass of a flame retardant with respect to 100 parts by mass of thermoplastic polyurethane (TPU). The inner layer includes a resin composition comprising an ethylene-vinyl acetate copolymer (EVA) with a vinyl acetate (VA) content of not less than 33%, and the outer layer is subjected to cross-linking treatment.

Abstract: A rare earth sintered magnet 10 including a magnet body that includes a rare earth compound, and a protective layer on the magnet body, having a first layer and a second layer in that order from the magnet body side, wherein the surface portion of the magnet body has a higher heavy rare earth element content than the interior of the magnet body that is surrounded by the surface portion, the first layer includes a rare earth oxide, the mass ratio of the heavy rare earth element being 1 or greater with respect to the light rare earth element, and the second layer includes an oxide containing iron and/or boron which is different from the rare earth oxide, the second layer having a lower rare earth oxide content than the first layer.

Abstract: Provided is a rare earth sintered magnet 10 comprising a group of main phase grains 2 each composed of an R-T-B-based rare earth magnet comprising a core 4 and a shell 6 covering the core 4, wherein a thickness of the shell 6 is 500 nm or less, R includes a light rare earth element and a heavy rare earth element, and a Zr compound 8 is present in a grain boundary phase 7 of the group of main phase grains 2 and/or the shell 6. Also provided are a motor comprising the rare earth sintered magnet 10 and an automobile comprising the motor.

Abstract: The present invention provides a sintered magnet having superior residual magnetic flux density and coercive force. The sintered magnet of the present invention comprises a group of R-T-B based rare earth magnet crystal particles 2 having a core 4 and a shell 6 covering the core 4, the mass ratio of a heavy rare earth element in the shell 6 is higher than the mass ratio of a heavy rare earth element in the core 4, and the thickest part of the shell 6 in the crystal particles 2 faces a grain boundary triple junction 1. A lattice defect 3 is formed between the core 4 and the shell 6.

Abstract: A crosslinked resin composition includes a resin composition including not less than 0.01 parts by mass and not more than 20 parts by mass of a vinyl monomer relative to 100 parts by mass of a thermoplastic polyurethane, the vinyl monomer having a molecular structure including at least one functional group of acid anhydride, silane, amine and epoxy. The resin composition is crosslinked by an electron beam irradiation.

Abstract: A resistive film type touch panel includes first and second resistive films respectively provided on the inner surfaces of a pair of substrates on the touch side and the opposite side, protruding contacts which are provided on the first resistive film so as to protrude to a predetermined height, and come into contact with the second resistive film upon bending/deformation of the touch-side substrate by a touch to electrically connect the touch-side substrate to the second resistive film, insulating spacers which are arranged between the substrates except the positions of the protruding contacts, and define the space between the substrates to a height higher than that of protruding contacts, and a liquid or liquid crystal sealed in the space between the substrates. This arrangement reduces the bending/deformation amount of the touch-side substrate and the refraction of transmitted light at a portion bent/deformed by a touch on the touch-side substrate.

Abstract: In a positioning apparatus for an actuator, a sliding mode controller for compensating for nonlinear characteristics of a wave gear device of the actuator generates a control input u to a controlled object, based on a position command ?1* and a state variable x for expressing the controlled object. The controlled object is defined in the following formula. {dot over (x)}=Ax+Bu+E?l* y=Cx The switching surfaces of the sliding mode control system are defined by a variable S expressed in the following formula. S=BTP The control input u is the sum of the linear-state feedback control term ul and the nonlinear control input unl u = u l + u nl = - ( SB ) - 1 ? ( SAx + SE ? ? ? l * ) - k ? ( SB ) - 1 ? ? ? ? ? ? = Sx , where ? is the switching function, and k is the switching gain.

Abstract: A positioning system (1) provided with an actuator (2) having a wave gear device (4) is driven and controlled by a semi-closed loop control for controlling the load position of a load device (5) based on the motor position of a motor shaft (31) of a motor (3). In a method for compensating for an angular transmission error by compensating for a motor shaft synchronous component ?Sync that occurs in synchrony with the motor position and is a relative rotation-synchronous component that includes an angular transmission error component of the wave gear device (4), the positioning system (1) is represented as a two-inertia model, and the motor shaft synchronous component ?Sync is represented as an oscillation source for producing a twisting action between the two inertia bodies in the two-inertia model.

Abstract: A shielded insulated electric cable includes an insulation layer that is in contact with a metal braid. The insulation layer includes a halogen-free cross-linked rubber that includes 100 parts by weight of a halogen-free rubber excluding a silicone rubber, and 1 to 20 parts by weight of a hindered phenol compound and a thioether compound.

Abstract: In the rare earth sintered magnet, the ratio of R2 to the sum of R1 and R2 that are contained in crystal grain boundaries surrounding the crystal grains in the rare earth sintered magnet body is higher than the ratio of R2 to the sum of R1 and R2 in the crystal grains, and the concentration of R2 increases from the central portion of the rare earth sintered magnet body toward the surface of the rare earth sintered magnet body. In addition, the degree of unevenness in residual magnetic flux density on the surface of the rare earth sintered magnet body is smaller than 3.0%.

Abstract: There is provided a control apparatus that controls a motor of an electric power steering system to assist a steering effort of an operator. The control apparatus includes a sensor, a parameter computer, a difference computer, a target torque computer, and a motor driver. The parameter computer computes a current value of one of physical parameters of one of constituents of the electric power steering system based on a steering parameter determined by the sensor referring to an equation of motion. The difference computer computes a difference between the current value of the one of the physical parameters computed by the parameter computer and a predetermined value of the one of the physical parameters. The target torque computer computes a target torque of the motor which compensates for the difference between the current value and the predetermined value of the one of the physical parameters.

Abstract: There is provided a rare earth magnet with excellent Br and HcJ values. The rare earth magnet according to a preferred embodiment of the invention is characterized by being composed mainly of R (where R is at least one element selected from among rare earth elements including Y), B, Al, Cu, Zr, Co, O, C and Fe, wherein the content of each element is R: 25-34 wt %, B: 0.85-0.98 wt %, Al: 0.03-0.3 wt %, Cu: 0.01-0.15 wt %, Zr: 0.03-0.25 wt %, Co: ?3 wt % (but not 0 wt %), O: ?0.2 wt %, C: 0.03-0.15 wt % and Fe: remainder.

Abstract: An operating apparatus including a main body, a movable member, a drive unit having a drive source, and a control unit controlling the drive source to control the position of the movable member relative to the main body. The control unit including a position control system and an acceleration control system. The position control system including a position command portion, a first feedforward compensator outputting a first operation command to the drive source, a second feedforward compensator, a positional-information acquiring device obtaining information related to the position of the movable member, and a first feedback compensator outputting a second operation command to the drive source. The acceleration control system including an acceleration-information acquiring device obtaining information related to an acceleration of the main body, a third feedforward compensator, a second feedback compensator outputting a third operation command to the drive source.

Abstract: A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model ?g(?tw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract: According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current is when a motor shaft stops with a deviation, and a Coulomb friction compensation current ic in other circumstances. The static friction compensation current is is obtained by adding a compensation amount isr of a monotonically increasing ramp function to a compensation amount iss of a step function, and a step-function compensation amount ics is used as the Coulomb friction compensation current ic. Since the amount of friction compensation can be changed adaptively based on the data during positioning-control response, a motor shaft can be stabilized at a target angle without prominent accompanying vibration, even if the ambient temperature changes and the friction characteristics of the wave gear drive fluctuate.

Abstract: The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (?Hys) is added to a motor-shaft angle command (?*M) as a compensation input (N?*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (?Hys) can be effectively reduced, and the positioning precision of the actuator can be improved.

Abstract: A halogen-free flame-retardant cable includes a multi-core twisted wire including a plurality of insulated wires twisted together, the plurality of insulated wires each including a conductor and an insulation layer on an outer periphery of the conductor, an inner layer formed on an outer surface of the multi-core twisted wire, and an outer layer formed on the inner layer. The outer layer includes a resin composition including not less than 30 parts by mass of a flame retardant with respect to 100 parts by mass of thermoplastic polyurethane (TPU). The inner layer includes a resin composition comprising an ethylene-vinyl acetate copolymer (EVA) with a vinyl acetate (VA) content of not less than 33%, and the outer layer is subjected to cross-linking treatment.

Abstract: An indicated position detecting apparatus includes a display module having a display screen, and a plurality of microphones to detect a contact sound to the display screen. The plurality of microphones are arranged at an outer peripheral portion of the display screen to be apart from each other. A time difference acquisition unit acquires arrival time differences of the contact sound between two microphones in each of two combinations of the plurality of microphones. A positional information acquisition unit derives two hyperbolas corresponding to the arrival time differences acquired by the time difference acquisition unit, each hyperbola having focal points at the two microphones in each of the two combinations of the plurality of microphones, and acquires an intersection of the two derived hyperbolas as information of a position where the contact sound is generated.