Abstract: A moving device for moving on a wall surface that includes at least two or more vehicles each having a body, two main wheels each disposed on the body and rotatable around a shaft for moving on a wall surface, two rotation drivers which rotate each of the two main wheels respectively, and an adhesion mechanism disposed on the body to adhere onto the wall surface; and a coupler that connects vehicles located adjacent to each other among the at least two or more vehicles in the traveling direction of each of the vehicles.

Abstract: A yawing restricting device provided in a first vehicle to restrict yawing, the first vehicle and a second vehicle being coupled to each other in succession in a traveling direction such that one of the first vehicle or the second vehicle is capable of yawing, the yawing restricting device includes a first contact portion provided to be able to contact with the second vehicle on one side of the first vehicle in an axle direction with respect to a yaw axis, a second contact portion provided to be able to contact with the second vehicle in the other side in the axle direction with respect to the yaw axis, a first restriction driving portion that drives the first contact portion to be in contact with the second vehicle, and a second restriction driving portion that drives the second contact portion to be in contact with the second vehicle.

Abstract: An adhesion device 10 that defines a decompression space D to be decompressed between a wall surface W and the adhesion device 10, and adheres to the wall surface W, comprises: a base 11 disposed facing a wall surface W at a distance from the wall surface W and connected to a decompression device 14 that depressurizes the decompression space D created between the base 11 and the wall surface W; a first partition 12 disposed on a fringe of the base 11, wherein the first partition 12 forms the base 11 side portion of the peripheral wall of the decompression space D with an elastic member; a second partition 13 disposed closer to the wall surface W side than the first partition 12, wherein the wall surface W side portion of the peripheral wall of the decompression space D is formed by an elastic member so that the wall surface W side end of the second partition 13 contacts the wall surface W; and a first restricting member 16 formed in a frame shape corresponding to that of the second partition 13 by a member ha

Abstract: A moving device for moving on a wall surface that includes at least two or more vehicles each having a body, two main wheels each disposed on the body and rotatable around a shaft for moving on a wall surface, two rotation drivers which rotate each of the two main wheels respectively, and an adhesion mechanism disposed on the body to adhere onto the wall surface; and a coupler that connects vehicles located adjacent to each other among the at least two or more vehicles in the traveling direction of each of the vehicles.

Abstract: An adhesion device 10 that defines a decompression space D to be decompressed between a wall surface W and the adhesion device 10, and adheres to the wall surface W, comprises: a base 11 disposed facing a wall surface W at a distance from the wall surface W and connected to a decompression device 14 that depressurizes the decompression space D created between the base 11 and the wall surface W; a first partition 12 disposed on a fringe of the base 11, wherein the first partition 12 forms the base 11 side portion of the peripheral wall of the decompression space D with an elastic member; a second partition 13 disposed closer to the wall surface W side than the first partition 12, wherein the wall surface W side portion of the peripheral wall of the decompression space D is formed by an elastic member so that the wall surface W side end of the second partition 13 contacts the wall surface W; and a first restricting member 16 formed in a frame shape corresponding to that of the second partition 13 by a member ha

Abstract: An object is to provide an accelerometer or a spherical sensor-type measurement device, able to control by means of an active restraining control system a spherical mass part or a spherical sensor part. The accelerometer or spherical sensor-type measurement device has a spherical mass part, which is levitated by electrostatic supporting forces, and electrodes positioned so as to surround the spherical mass part and which have spherical inner surfaces; the above electrodes include a plurality of electrostatic supporting electrodes, positioned symmetrically with respect to the spherical mass part, and a displacement detection electrode, positioned between the electrostatic supporting electrodes.

Abstract: An acceleration-detecting type gyro apparatus of an electrostatic supporting type, in which displacements of a gyro rotor are actively made zero is proposed. The acceleration-detecting type gyro apparatus includes: a gyro case; a gyro rotor which is supported within the gyro case by electrostatic supporting forces such that the gyro rotor is not in contact with the gyro case; electrostatic supporting electrodes for generating the electrostatic supporting forces; a rotor drive system for rotating the gyro rotor around the spin axis at high speed; a displacement-detection system for detecting displacements of the gyro rotor; and a restraining system having a feedback loop for correcting control voltages applied to the electrostatic supporting electrodes so that displacements of the gyro rotor become zero, the gyro rotor is annular-shaped, and the electrostatic supporting electrodes are disposed in a manner of surrounding the gyro rotor.

Abstract: An acceleration-detecting type gyro apparatus of an electrostatic supporting type, in which displacements of a gyro rotor are actively made zero is proposed. The acceleration-detecting type gyro apparatus includes: a gyro case; a gyro rotor which is supported within the gyro case by electrostatic supporting forces such that the gyro rotor is not in contact with the gyro case; electrostatic supporting electrodes for generating the electrostatic supporting forces; a rotor drive system for rotating the gyro rotor around the spin axis at high speed; a displacement-detection system for detecting displacements of the gyro rotor; and a restraining system having a feedback loop for correcting control voltages applied to the electrostatic supporting electrodes so that displacements of the gyro rotor become zero, the gyro rotor is annular-shaped, and the electrostatic supporting electrodes are disposed in a manner of surrounding the gyro rotor.

Abstract: An electrostatic supporting type acceleration detecting gyro apparatus is formed as an active type so as to be able to positively cancel a displacement of a gyro rotor. Control DC voltages for generating electrostatic supporting forces and displacement detection AC voltages for detecting a displacement of gyro rotor are applied to electrostatic supporting electrodes, and mechanism control circuits detect displacement indicating voltage signals (P.sub.1A) through (P.sub.4B). A displacement of the gyro rotor and the control DC voltages applied to the electrostatic supporting electrodes are computed based on the displacement detection voltages (P.sub.1A) through (P.sub.4B) outputted from the mechanism control circuits.

Abstract: An acceleration detection gyro apparatus is of the electrostatic supporting type. This gyro apparatus call be made inexpensive, long in life, excellent in durability and can be applied to a wide variety of fields. A gyro rotor (20) is supported relative to a gyro case (21) by an electrostatic supporting force in a non-contact fashion and rotated about the spin axis along the Z axis by a rotor driving system. The gyro rotor (20) is disk-shaped and constructed by forming metal thin film electrodes on both surfaces of a plate member made of preferably an insulating material. The gyro apparatus includes a slave control system for slaving a displacement of the gyro rotor (20) relative to the gyro case (21) in the Z-axis direction (spin axis direction) and a central position control system for slaving a displacement of the gyro rotor (20) in the X-axis and Y-axon directions.

Abstract: An acceleration detection gyro apparatus is of the electrostatic supporting type. This gyro apparatus can be made inexpensive, long in life, excellent in durability and can be applied to a wide variety of fields. A gyro rotor (20) is supported relative to a gyro case (21) by an electrostatic supporting force in a non-contact fashion and rotated about the spin axis along the Z axis by a rotor driving system. The gyro rotor (20) is disk-shaped and constructed by forming metal thin film electrodes on both surfaces of a plate member made of preferably an insulating material. The gyro apparatus includes a slave control system for slaving a displacement of the gyro rotor (20) relative to the gyro case (21) in the Z-axis direction (spin axis direction) and a central position control system for slaving a displacement of the gyro rotor (20) in the X-axis and Y-axis directions.

Abstract: An electrostatic supporting type acceleration detecting gyro apparatus is formed as an active type so as to be able to positively cancel a displacement of a gyro rotor. Control DC voltages for generating electrostatic supporting forces and displacement detection AC voltages for detecting a displacement of gyro rotor are applied to electrostatic supporting electrodes, and mechanism control circuits detect displacement indicating voltage signals (P.sub.1A) through (P.sub.4B). A displacement of the gyro rotor and the control DC voltages applied to the electrostatic supporting electrodes are computed based on the displacement detection voltages (P.sub.1A) through (P.sub.4B) outputted from the mechanism control circuits.

Abstract: An antenna having a central axis is supported on a supporting member which in turn is supported on an azimuth gimbal. The antenna and the supporting member are rotatable around an elevation axis perpendicular to the central axis gimbal is supported on a base and is rotatable around an azimuth axis perpendicular to the elevation axis. A first gyro having an input axis parallel to the elevation axis is secured to the supporting member, and a second gyro having an input axis perpendicular to both the central axis and the elevation angle axis is secured to the supporting member. An accelerometer is provided for outputting a signal representative of an inclination angle of the central axis relative to a horizontal plane. An azimuth transmitter is provided for outputting a signal representative of a rotation angle of the azimuth gimbal around the azimuth axis.