Abstract: Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.

Abstract: A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

Abstract: A vibration test system for structures comprises a vibration exciter that vibrates a real model portion, a load meter that measures a load, and a computer that receives a numerical model representing a numerical model portion. The computer includes a block that calculates a displacement, which is made in a predetermined time after completion of measurement, according to a load value and an external force value. A signal production block produces a command signal using as a target value the displacement calculated by the displacement calculation block. A step control block controls the displacement calculation block and signal production block so that they will act cyclically. The displacement calculation block uses an ?OS method to time integrate a solution of a vibrational equation.

Abstract: Autonomous mobile equipment includes a position-of-object and own position detecting system and a moving unit, and autonomously moves. The position-of-object and own position detecting system includes a database in which pieces of information on the superficial shape and position of an object are recorded. The superficial shape of the object detected by a position measuring unit is collated with the superficial shape of the object recorded in the database. If the collated superficial shapes agree with each other, the pieces of information on the object recorded in the database are transmitted to a traveling planning unit. If the collated superficial shapes disagree with each other, the information on the object acquired by the position measuring unit is transmitted to the traveling planning unit.

Abstract: A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.

Abstract: A vibration test system for structures comprises a vibration exciter that vibrates a real model portion, a load meter that measures a load, and a computer that receives a numerical model representing a numerical model portion. The computer includes a block that calculates a displacement, which is made in a predetermined time after completion of measurement, according to a load value and an external force value. A signal production block produces a command signal using as a target value the displacement calculated by the displacement calculation block. A step control block controls the displacement calculation block and signal production block so that they will act cyclically. The displacement calculation block uses an ?OS method to time integrate a solution of a vibrational equation.

Abstract: An electron beam drawing apparatus has a sample chamber having a bottom plate, a side wall, and a top plate. Pillar members are disposed at four corners of the sample chamber and a frame is fixed to the pillar members. A plurality of supporting apparatuses for positioning a column mounted on the top plate to the frame are arranged around the column, thereby suppressing vibration of the column at the time of movement of a stage.

Abstract: A calculating device and method provided for a shaking test apparatus for carrying out a shaking test on a structure by using a partial structure and a numerical model which is virtually connected to the partial structure. The calculating device includes a calculation part which identifies a vibration model corresponding to the partial structure on the basis of displacement and reaction force detected in response to shaking and which combines the vibration model and the numerical model with each other to construct a model of the overall system corresponding to the structure and calculates the shaking response of the overall system model.

Abstract: In a hybrid vibration experiment of the structure, while shaking an actual model simulating a portion of the structure, vibration response analysis of a numerical model simulates the remaining portions of the structure using a computer. Loading members are provided neighboring the actual model. A plurality of vibrators vibrates the actual model through the loading members. The vibrators are controlled so that, not a point displacement but, a distributed displacement is loaded on the actual model.

Abstract: The testing performs a vibration excitation testing of a part of the structure, performs a numerical calculus of vibration response of the other parts of the structure, and calculates the vibration response of a whole of the structure by combining these two methods. Testing includes calculating a position of a point of exciting force on the basis of vibration exciting, and calculating a reaction force on the basis of a load detected and the position of the point of exciting force. Then, a displacement of a numerical model is computed by using the reaction force calculated and a known external force, and calculating a vibration exciting machine displacement command value on the basis of the displacement. A drive drives the vibration exciting on the basis of an output thereof. Vibration excitation is performed in the translational direction as well as the rotational direction.

Abstract: A vibration testing device includes a computer system having: a measurement processing block for inputting an output of the monitoring sensor and processing the output; a model substituting block for modeling characteristics of the test piece, calculating a response quantity corresponding to a drive condition of an actuator, and inputting the calculation result to a numerical simulation block and the parameter changing block; the parameter changing block for comparing the calculation result of the model substituting block with the processing result of the measurement processing block, and changing the parameter; the numerical simulation block for calculating a vibration response in accordance with a previously input structure numerical model; and a waveform generating block for calculating a time function of a deformation to be applied to the test piece, and outputting the time block to the actuator controlling device.

Abstract: A shaking table having: a feedback controller for generating a drive signal for actuators so that an inputted second command signal is agreed with a response signal indicating a vibration state of the table; an adaptive filter having variable filter coefficients which is supplied with an external first command signal indicating a target value of the response signal and generates the second command signal by compensating the transfer characteristics from the feedback controller to the table loading the specimen; a mask signal generator; a first adder for adding the mask signal to the second command signal; a second adder for adding the mask signal to the response signal; and an identification unit which is supplied with the outputs of the first and the second adders, for calculating the filter coefficients of the adaptive filter to compensate the transfer characteristics, and supplying the calculated coefficients to the adaptive filter.

Abstract: An electron beam drawing apparatus has a sample chamber having a bottom plate, a side wall, and a top plate. Pillar members are disposed at four corners of the sample chamber and a frame is fixed to the pillar members. A plurality of supporting apparatuses for positioning a column mounted on the top plate to the frame are arranged around the column, thereby suppressing vibration of the column at the time of movement of a stage.

Abstract: The present invention discloses a testing system and a testing method for a structure which tests a structure made of a test piece structure and a numerical model virtually connected to the structure. A simulated structure including a frame, an actuator and a reaction force measuring device is mounted on a foundation on which a shaking table is also mounted. Only the test piece structure is mounted on the shaking table. The motion of the shaking table 5 which is generated at the time of shaking the test piece structure using the shaking table and the actuator is measured by a shaking table motion measuring device, while the reaction force generated by the test piece structure is measured by a reaction force measuring device. Using these measured values and the numerical model stored in a digital computer, the motion of the test piece structure after a predetermined period for the motion of the simulated structure is calculated.

Abstract: In a hybrid vibration experiment of the structure, while shaking an actual model simulating a portion of the structure, analysis is made on vibration response of a numerical model simulating the remaining portions of the structure, with using a computer. Loading members are provided neighboring to the actual model. The plural numbers of vibrators vibrates the actual model through the loading member. A control means for the vibrators controls the plural numbers of vibrators, so that not a point displacement, but a distributed displacement is loaded on the actual model.

Abstract: A main computer for performing numerical simulation and a sub-computer for controlling each shaking machine are provided. Data transfer between the main computer and sub-computer is performed by communications. The main computer is provided with a model substituting function of modeling a specimen to be shaken, a parameter modification function of sequentially modifying parameters of a model in accordance with the vibration test result, and an abnormality inspection function of judging an abnormality of each shaking system and if an abnormality is detected, substituting the measured value of a reaction force with an output of the model substituting function. It is possible to make an experiment of evaluating the strength and reliability of a massive structure, for example, relative to an earthquake and to make a vibration test at a high precision and with an economical cost.

Abstract: A main computer for performing numerical simulation and a sub-computer for controlling each shaking machine are provided. Data transfer between the main computer and sub-computer is performed by communications. The main computer is provided with a model substituting function of modeling a specimen to be shaken, a parameter modification function of sequentially modifying parameters of a model in accordance with the vibration test result, and an abnormality inspection function of judging an abnormality of each shaking system and if an abnormality is detected, substituting the measured value of a reaction force with an output of the model substituting function. It is possible to make an experiment of evaluating the strength and reliability of a massive structure, for example, relative to an earthquake and to make a vibration test at a high precision and with an economical cost.

Abstract: The testing performs a vibration excitation testing of a part of the structure, performs a numerical calculus of vibration response of the other parts of the structure, and calculates the vibration response of a whole of the structure by combining these two methods. Testing includes calculating a position of a point of exciting force on the basis of vibration exciting, and calculating a reaction force on the basis of a load detected and the position of the point of exciting force. Then, a displacement of a numerical model is computed by using the reaction force calculated and a known external force, and calculating a vibration exciting machine displacement command value on the basis of the displacement. A drive drives the vibration exciting on the basis of an output thereof. Vibration excitation is performed in the translational direction as well as the rotational direction.

Abstract: A vibration testing device includes a computer system having: a measurement processing block for inputting an output of the monitoring sensor and processing the output; a model substituting block for modeling characteristics of the test piece, calculating a response quantity corresponding to a drive condition of an actuator, and inputting the calculation result to a numerical simulation block and the parameter changing block; the parameter changing block for comparing the calculation result of the model substituting block with the processing result of the measurement processing block, and changing the parameter; the numerical simulation block for calculating a vibration response in accordance with a previously input structure numerical model; and a waveform generating block for calculating a time function of a deformation to be applied to the test piece, and outputting the time block to the actuator controlling device.

Abstract: A shaking table having: a feedback controller for generating a drive signal for actuators so that an inputted second command signal is agreed with a response signal indicating a vibration state of the table; an adaptive filter having variable filter coefficients which is supplied with an external first command signal indicating a target value of the response signal and generates the second command signal by compensating the transfer characteristics from the feedback controller to the table loading the specimen; a mask signal generator; a first adder for adding the mask signal to the second command signal; a second adder for adding the mask signal to the response signal; and an identification unit which is supplied with the outputs of the first and the second adders, for calculating the filter coefficients of the adaptive filter to compensate the transfer characteristics, and supplying the calculated coefficients to the adaptive filter.