Abstract: An aircraft includes a main body, a structure member, and a retroreflective member. The structure member is provided below the main body in a gravity direction. The retroreflective member is provided in the structure member and reflects a light, which is emitted from a ground facility, toward the ground facility.

Abstract: A thruster controller is used in a flying device that has at least two thrusters and a main controller that outputs an instruction value to the thruster for controlling a thrust of the thruster. The thruster controller includes an instruction value obtainer and an instruction value generator. The instruction value obtainer obtains an instruction value that is output from the main controller to the thruster based on an assumption that a propeller pitch is fixed. The instruction value generator outputs, to a pitch changing mechanism of the thruster, a propeller pitch instruction value generated from the obtained instruction value for setting the propeller pitch, and outputs, to a motor, a corrected rotation number instruction value for setting a rotation number of the motor by correcting the instruction value based on the propeller pitch instruction value.

Abstract: An aircraft control system is provided to include an unmanned aircraft, a retroreflective member, an installation base, a retroreflective member driver, and a survey instrument. The retroreflective member reflects light to an emission source. The installation base is provided integrally or separately with the aircraft; on the installation base, the retroreflective member is installed. The retroreflective member driver drives the retroreflective member so as to be movable relative to the installation base. The survey instrument tracks the retroreflective member based on the light reflected by the retroreflective member and surveys a distance to the retroreflective member and an angle of the retroreflective member, providing a survey result. Herein, a latest flight orientation of the aircraft is estimated from (i) a movement trajectory of the retroreflective member acquired from the survey result and (ii) a change in the flight orientation of the aircraft.

Abstract: An electric power supply apparatus includes a first power supply unit, a second power supply unit, diodes, detection units, and an electric power control unit. The first power supply unit and the second power supply unit supply electric power to a thruster which is a load. The diodes are provided in the first power supply unit and the second power supply unit, respectively, to restrict reverse flow of currents to the power supply units. The detection units are provided between the first power supply unit and the thruster and between the second power supply unit and the thruster, respectively, to detect at least one of a voltage and a current. The electric power control unit controls electric power transmission between the first power supply unit and the second power supply unit based on detection values of the detection units.

Abstract: A control apparatus of an internal combustion engine having an injector which directly injects fuel into a combustion chamber of a cylinder and a spark plug which ignites an air-fuel mixture containing the fuel injected by the injector includes an air-fuel ratio acquisition unit acquiring an air-fuel ratio of the air-fuel mixture in the combustion chamber, a nitrogen oxide concentration acquisition unit acquiring a concentration of nitrogen oxide in a combustion gas exhausted from the internal combustion engine, and a stratification level estimation unit estimating a level of stratification as a measure of level of distribution of the air-fuel mixture at a predetermined air-fuel ratio or below in a vicinity of the spark plug. The stratification level estimation unit estimates the level of stratification according to the air-fuel ratio acquired by the air-fuel ratio acquisition unit and the concentration of nitrogen oxide acquired by the nitrogen oxide concentration acquisition unit.

Abstract: A control apparatus of an internal combustion engine having an injector which directly injects fuel into a combustion chamber of a cylinder and a spark plug which ignites an air-fuel mixture containing the fuel injected by the injector includes an air-fuel ratio acquisition unit acquiring an air-fuel ratio of the air-fuel mixture in the combustion chamber, a nitrogen oxide concentration acquisition unit acquiring a concentration of nitrogen oxide in a combustion gas exhausted from the internal combustion engine, and a stratification level estimation unit estimating a level of stratification as a measure of level of distribution of the air-fuel mixture at a predetermined air-fuel ratio or below in a vicinity of the spark plug. The stratification level estimation unit estimates the level of stratification according to the air-fuel ratio acquired by the air-fuel ratio acquisition unit and the concentration of nitrogen oxide acquired by the nitrogen oxide concentration acquisition unit.

Abstract: When an engine is driven in a high engine-load condition, a split fuel injection is performed in which a required fuel injection quantity is injected by multiple fuel injections. While the split fuel injection is performed, an actual air-fuel ratio of each cylinder is individually computed based on the output of the air-fuel ratio sensor. Based on the actual air-fuel ratio and a reference air-fuel ratio, an injection-quantity variation of each cylinder is computed. A correction value is computed and learned in order to correct the injection-quantity variation of each cylinder.

Abstract: A switching element is connected between a heater of an oxygen sensor and a ground in series. A voltage sensing resistor is connected in parallel with the switching element and in series with the heater. When the switching element is in a de-energization state, if the heater degrades and a resistance of the heater changes, a heater terminal voltage (potential at middle point between heater and voltage sensing resistor) changes correspondingly. Therefore, when the switching element is in the de-energization state, a heater terminal voltage determination parameter changing in accordance with the heater terminal voltage is sensed, and a degradation determination value corresponding to a battery voltage and temperature of the heater is calculated from a map. The heater terminal voltage determination parameter is compared with the degradation determination value to determine whether the heater has degraded.

Abstract: In a multi-cylinder engine, to compute the air-fuel ratio of each cylinder by an air-fuel ratio sensor disposed in an exhaust pipe, a cylinder is determined by a crank angle detected by a crank angle sensor. A deviation in the air-fuel ratio of each cylinder is detected on the basis of the output signal of the air-fuel ratio sensor disposed in the exhaust pipe and the forcibly changed quantity of the air-fuel ratio.

Abstract: A computer calculates an estimated cylinder-intake-air amount based on outputs from an airflow meter and a throttle position sensor, and then calculates a reference cylinder-intake-air amount based on an air-fuel ratio in an exhaust gas and fuel injection amount. An error of the estimated cylinder-intake-air amount is calculated by comparing the reference cylinder-intake-air amount with an estimated cylinder-intake-air amount base value. The error is low-pass filtered. The estimated cylinder-intake-air amount base value is corrected to obtain the final estimated cylinder-intake-air amount.

Abstract: A computer calculates an estimated cylinder-intake-air amount based on outputs from an airflow meter and a throttle position sensor, and then calculates a reference cylinder-intake-air amount based on an air-fuel ratio in an exhaust gas and fuel injection amount. An error of the estimated cylinder-intake-air amount is calculated by comparing the reference cylinder-intake-air amount with an estimated cylinder-intake-air amount base value. The error is low-pass filtered. The estimated cylinder-intake-air amount base value is corrected to obtain the final estimated cylinder-intake-air amount.

Abstract: In a multi-cylinder engine, to compute the air-fuel ratio of each cylinder by an air-fuel ratio sensor disposed in an exhaust pipe, a cylinder is determined by a crank angle detected by a crank angle sensor. A deviation in the air-fuel ratio of each cylinder is detected on the basis of the output signal of the air-fuel ratio sensor disposed in the exhaust pipe and the forcibly changed quantity of the air-fuel ratio.

Abstract: A computer calculates an estimated cylinder-intake-air amount based on outputs from an airflow meter and a throttle position sensor, and then calculates a reference cylinder-intake-air amount based on an air-fuel ratio in an exhaust gas and fuel injection amount. An error of the estimated cylinder-intake-air amount is calculated by comparing the reference cylinder-intake-air amount with an estimated cylinder-intake-air amount base value. The error is low-pass filtered. The estimated cylinder-intake-air amount base value is corrected to obtain the final estimated cylinder-intake-air amount.

Abstract: In a multi-cylinder engine, to compute the air-fuel ratio of each cylinder by an air-fuel ratio sensor disposed in an exhaust pipe, a cylinder is determined by a crank angle detected by a crank angle sensor. A deviation in the air-fuel ratio of each cylinder is detected on the basis of the output signal of the air-fuel ratio sensor disposed in the exhaust pipe and the forcibly changed quantity of the air-fuel ratio.

Abstract: A computer calculates an estimated cylinder-intake-air amount based on outputs from an airflow meter and a throttle position sensor, and then calculates a reference cylinder-intake-air amount based on an air-fuel ratio in an exhaust gas and fuel injection amount. An error of the estimated cylinder-intake-air amount is calculated by comparing the reference cylinder-intake-air amount with an estimated cylinder-intake-air amount base value. The error is low-pass filtered. The estimated cylinder-intake-air amount base value is corrected to obtain the final estimated cylinder-intake-air amount.