Abstract: An electronic control unit mounted in an object includes: a rewritable memory of control and reprogramming software; a not-always-on power supply system micro-computer operating in control and reprogramming modes and connected/disconnected with a power source; and an always-on power supply system micro-computer operating in the control and reprogramming modes and constantly connected with the power source. Each micro-computer includes: a first mode determination device determining whether to operate in an on-board mode when the power source starts to supply the electric power; and a second mode determination device determining whether to operate in the reprogramming mode. The always-on power supply system micro-computer includes a first transition device that detects a change in a power supply state of the not-always-on power supply system micro-computer.

Abstract: An electronic control unit mounted in an object includes: a rewritable memory of control and reprogramming software; a not-always-on power supply system micro-computer operating in control and reprogramming modes and connected/disconnected with a power source; and an always-on power supply system micro-computer operating in the control and reprogramming modes and constantly connected with the power source. Each micro-computer includes: a first mode determination device determining whether to operate in an on-board mode when the power source starts to supply the electric power; and a second mode determination device determining whether to operate in the reprogramming mode. The always-on power supply system micro-computer includes a first transition device that detects a change in a power supply state of the not-always-on power supply system micro-computer.

Abstract: An angle of rotation detection device includes an electrical angle detector (resolver and R/D converter) having the electrical angle of 360° set smaller than the mechanical angle of 360°, and providing a two-phase encoder signal corresponding to the electrical angle of a rotor; a two-phase encoder counter counting a two-phase encoder signal, and providing a digital value corresponding to the electrical angle, and a multiplication factor detector detecting which position of the mechanical angle the electrical angle indicated by the signal output from the detector corresponds to, based on a change of the count value from the two-phase encoder counter. Thus, there can be provided an angle of rotation detection device that can identify the position of the mechanical angle while using the two-phase encoder output.

Abstract: Provided is a data analysis device for automatically detecting a step on the ground based on point cloud data representing a three-dimensional shape of a feature surface. A space subject to analysis is divided into a plurality of subspaces. A boundary search unit (22) searches for a boundary formed by the step on a horizontal plane for each of the subspaces. The boundary search unit (22) searches for a step neighborhood area having a predetermined width, in which the points projected on the horizontal plane are accumulated equal to or more than a criterion set in advance and a cloud of the points have a difference in height equal to or more than a step threshold set in advance, and searches for a directional line along a distribution of the cloud of points belonging to the step neighborhood area on the horizontal plane as the boundary.

Abstract: A three-phase AC motor drive control device has a phase command calculation unit. When driving a three-phase AC motor by a three-phase alternating square-wave voltage that is converted in power according to a switching command corresponding to one cycle of the electrical angle obtained from a rotational position of the rotor of the three-phase AC motor, the phase command calculation unit performs a torque feedback calculation based on a torque deviation, obtains, based on this calculation result, a phase command that is the lead or lag angle amount of a phase to be corrected, and stores and updates this obtained phase command. To generate the switching command, the three-phase AC motor drive control device outputs a pulse pattern to an inverter, the pulse pattern being shifted in phase by the amount of the phase command with respect to the basic phase of the three-phase alternating square-wave voltage uniquely determined with respect to the one cycle of the electrical angle.

Abstract: A motor control apparatus includes a resolver and a R/D converter in which an electrical angle of 360° is set smaller than a mechanical angle of 360° and that outputs a two-phase encoder signal corresponding to the electrical angle; a two-phase encoder counter that counts the two-phase encoder signal and outputs a digital value corresponding to the electrical angle; a multiplication factor of angle detecting portion that detects a position of the mechanical angle to which an angle indicated by a signal output from the R/D converter corresponds, based on a change in a count value; and a motor controlling portion that corrects a current command value determined based on a torque command value, according to an output of the multiplication factor of angle detecting portion.

Abstract: A three-phase AC motor drive control device has a phase command calculation unit. When driving a three-phase AC motor by a three-phase alternating square-wave voltage that is converted in power according to a switching command corresponding to one cycle of the electrical angle obtained from a rotational position of the rotor of the three-phase AC motor, the phase command calculation unit performs a torque feedback calculation based on a torque deviation, obtains, based on this calculation result, a phase command that is the lead or lag angle amount of a phase to be corrected, and stores and updates this obtained phase command. To generate the switching command, the three-phase AC motor drive control device outputs a pulse pattern to an inverter, the pulse pattern being shifted in phase by the amount of the phase command with respect to the basic phase of the three-phase alternating square-wave voltage uniquely determined with respect to the one cycle of the electrical angle.

Abstract: An angle of rotation detection device includes an electrical angle detector (resolver and R/D converter) having the electrical angle of 360° set smaller than the mechanical angle of 360°, and providing a two-phase encoder signal corresponding to the electrical angle of a rotor; a two-phase encoder counter counting a two-phase encoder signal, and providing a digital value corresponding to the electrical angle, and a multiplication factor detector detecting which position of the mechanical angle the electrical angle indicated by the signal output from the detector corresponds to, based on a change of the count value from the two-phase encoder counter. Thus, there can be provided an angle of rotation detection device that can identify the position of the mechanical angle while using the two-phase encoder output.

Abstract: Provided is a data analysis device for automatically detecting a step on the ground based on point cloud data representing a three-dimensional shape of a feature surface. A space subject to analysis is divided into a plurality of subspaces. A boundary search unit (22) searches for a boundary formed by the step on a horizontal plane for each of the subspaces. The boundary search unit (22) searches for a step neighborhood area having a predetermined width, in which the points projected on the horizontal plane are accumulated equal to or more than a criterion set in advance and a cloud of the points have a difference in height equal to or more than a step threshold set in advance, and searches for a directional line along a distribution of the cloud of points belonging to the step neighborhood area on the horizontal plane as the boundary.

Abstract: A motor control apparatus includes a resolver and a R/D converter in which an electrical angle of 360° is set smaller than a mechanical angle of 360° and that outputs a two-phase encoder signal corresponding to the electrical angle; a two-phase encoder counter that counts the two-phase encoder signal and outputs a digital value corresponding to the electrical angle; a multiplication factor of angle detecting portion that detects a position of the mechanical angle to which an angle indicated by a signal output from the R/D converter corresponds, based on a change in a count value; and a motor controlling portion that corrects a current command value determined based on a torque command value, according to an output of the multiplication factor of angle detecting portion.

Abstract: An optimum character string placing program causes a computer to place a character string so as not to overlap another character string in a demarcated region. The program causes the computer to perform horizontal placement to place the character string along a prospective guide line that is located at the center of prospective guide lines that are longer than the longest horizontal segment of the area of the character string, the prospective guide lines being drawn as virtual horizontal lines at regular intervals in the demarcated region.