Abstract: A steering controller includes: a generation part that generates a vehicle model indicating a relationship between a velocity, a steering angle, a lateral deviation, an azimuth deviation of a vehicle, and a curvature; a calculation part that calculates, as an optimal steering angle, a steering angle that minimizes an output value of an evaluation function including an estimated lateral deviation and an estimated azimuth deviation calculated on the basis of a vehicle model, the steering angle, a change amount of the steering angle, a first weighting coefficient, a second weighting coefficient, a third weighting coefficient, and a fourth weighting coefficient; a second acquisition part that acquires a required acceleration; and an updating part that updates at least one weighting coefficient among the first weighting coefficient, the second weighting coefficient, the third weighting coefficient, and the fourth weighting coefficient according to the required acceleration.

Abstract: A power conversion apparatus includes a converter circuit converting alternating current voltage output from an AC power supply into direct current voltage. The converter circuit includes unit converters. The power conversion apparatus generates a reference duty based on detection values of a current detector and a voltage detector, and generates a pulse width modulation signal based on a result of comparison between a carrier signal and a corrected duty obtained by correcting the reference duty. When a first reference duty in a first carrier period differs from a second reference duty in a second carrier period subsequent to the first carrier period, a first corrected duty of a first phase in a first carrier period in one power supply period after and a second corrected duty of a second phase in the first carrier period in one power supply period after are controlled to have different values.

Abstract: A controller that performs PI control on a control input to a controlled object on the basis of a difference between a target value and an output, the controller including a model converting part that converts an ultra-local model obtained by modeling the controlled object into a state space model by defining a differential of an output of the controlled object including measurement noise by the control input and a deviation amount with respect to a reference model, an estimation part that estimates the deviation amount of the ultra-local model on the basis of a Kalman filter constructed from the state space model, and a steering angle calculation part that obtains the control input on the basis of the estimated deviation amount, a proportional gain, and an integral gain.

Abstract: In a control system including a feedback controller, a nominal model, and an error compensator, a parameter update device that updates a parameter of the error compensator 1 includes a data acquisition part that acquires input data indicating a control input to a control object and output data indicating an output from the control object, a reference signal acquisition part that finds a pseudo reference signal, which is a control target value, using the input data and the output data, and a parameter update part that updates the parameter of the error compensator by minimizing an evaluation function defined by the pseudo reference signal.

Abstract: A power steering controller including: a first override determination part that determines whether automatic steering of a vehicle is possible on the basis of a state of the vehicle; a second override determination part that determines whether manual steering of the vehicle is possible on the basis of a state of a driver of the vehicle; and a driving mode switching part that switches between an automatic steering mode for automatically steering the vehicle, a manual steering mode for manually steering the vehicle, and a semi-automatic steering mode for automatically steering and manually steering the vehicle, on the basis of a determination result of the first override determination part and a determination result of the second override determination part.

Abstract: A driving control apparatus includes: a generating part that generates, with a predetermined control period, a vehicle model; and a calculating part that calculates, as an optimal steering angle, a steering angle that minimizes or maximizes an output value of an evaluation function including an estimated lateral deviation, an estimated azimuth deviation, a steering angle, and a change amount of the steering angle from the immediately preceding control period, calculated based on the vehicle model. The calculating part causes the coefficient of the term corresponding to the change amount after an initial period has passed from when the vehicle started to be smaller than the weighting coefficient of the term corresponding to the change amount up to when the predetermined initial period has passed from when the vehicle started.

Abstract: The power conversion apparatus includes a converter circuit that converts an alternating-current voltage output from an alternating-current power supply into a direct-current voltage. The converter circuit includes unit converters. The power conversion apparatus includes current detectors that detect respective currents flowing through respective reactors. In first and second unit converters adjacent to each other among the unit converters, a phase difference between a first phase and a second phase is changed from a reference phase difference when a total current of currents detected by the respective current detectors is greater than a threshold. The first phase is a phase at a time when the switching element of the first unit converter is turned on. The second phase is a phase at a time when the switching element of the second unit converter is turned on.

Abstract: The power conversion apparatus includes a converter circuit that converts an alternating-current voltage output from an alternating-current power supply into a direct-current voltage. The converter circuit includes unit converters. The power conversion apparatus includes current detectors that detect respective currents flowing through respective reactors. In first and second unit converters adjacent to each other among the unit converters, a phase difference between a first phase and a second phase is changed from a reference phase difference when a total current of currents detected by the respective current detectors is greater than a threshold. The first phase is a phase at a time when the switching element of the first unit converter is turned on. The second phase is a phase at a time when the switching element of the second unit converter is turned on.

Abstract: A power conversion apparatus includes a converter circuit converting AC voltage output from an AC power supply into DC voltage. The converter circuit includes unit converters. The power conversion apparatus includes a low current-oriented controller the unit converters to cause current corresponding to a single phase to flow through a current detector, and a high current-oriented controller controlling operation of the unit converters based on a result of comparison between a duty command and a carrier signal, where the duty command is generated based on detection values detected by the current detector and a voltage detector. When the detection value detected by the current detector is less than or equal to a first threshold, the low current-oriented controller is activated, and when the detection value detected by the current detector is greater than the first threshold, the high current-oriented controller is activated.

Abstract: A power conversion apparatus includes a converter circuit converting alternating current voltage output from an AC power supply into direct current voltage. The converter circuit includes unit converters. The power conversion apparatus generates a reference duty based on detection values of a current detector and a voltage detector, and generates a pulse width modulation signal based on a result of comparison between a carrier signal and a corrected duty obtained by correcting the reference duty. When a first reference duty in a first carrier period differs from a second reference duty in a second carrier period subsequent to the first carrier period, a first corrected duty of a first phase in a first carrier period in one power supply period after and a second corrected duty of a second phase in the first carrier period in one power supply period after are controlled to have different values.

Abstract: Provided is an agent for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like. A compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification.

Abstract: Provided is an agent for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like. A compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification.

Abstract: Provided is an agent for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like. A compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification.

Abstract: A method may include obtaining magnetic field information that corresponds to a location. The magnetic field information may be based on an output reading of a magnetometer of an electronic device. The method may further include obtaining orientation information that corresponds to a device orientation of the electronic device that corresponds to the magnetic field information. The orientation information may be based on an output reading of one or more inertial sensors and may indicate the device orientation. The method may further include adjusting the magnetic field information based on the orientation information to generate normalized magnetic field information that is normalized with respect to a map-coordinate system of a magnetic field map. The normalized magnetic field information and the magnetic field map may be used to determine that the electronic device is at the location at the time that the output reading of the magnetometer is obtained.

Abstract: The invention provides a compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification. The invention also provides a method for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like in a mammal by administering the compound or pharmaceutically acceptable salt thereof or solvate thereof to the mammal.

Abstract: A method may include obtaining magnetic field information that corresponds to a location. The magnetic field information may be based on an output reading of a magnetometer of an electronic device. The method may further include obtaining orientation information that corresponds to a device orientation of the electronic device that corresponds to the magnetic field information. The orientation information may be based on an output reading of one or more inertial sensors and may indicate the device orientation. The method may further include adjusting the magnetic field information based on the orientation information to generate normalized magnetic field information that is normalized with respect to a map-coordinate system of a magnetic field map. The normalized magnetic field information and the magnetic field map may be used to determine that the electronic device is at the location at the time that the output reading of the magnetometer is obtained.

Abstract: Provided is an agent for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like. A compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification.

Abstract: Provided is an agent for the treatment or prophylaxis of inflammatory diseases, allergic diseases, autoimmune diseases, transplant rejection or the like. A compound represented by the following formula [I] or a pharmaceutically acceptable salt thereof, or a solvate thereof: wherein each symbol is as described in the specification.