Abstract: A robot includes a robot hand, a robot arm, a force sensor, and a control device. The control device performs admittance control to determine a position of the robot hand in accordance with a force detected by the force sensor, and provides, to the robot arm, an instruction to move the robot hand to the determined position. Further, the control device records, as teaching data, the instruction provided to the robot arm.

Abstract: To provide a motion training apparatus capable of appropriately continuing motion training. A controller of a motion training apparatus detects a position of an operation unit moving in an XY plane and controls an X-axis direction drive motor and a Y-axis direction drive motor in accordance with a first speed vector based on a magnitude of a resultant force F0 of a force Fx in an X-axis direction and a force Fy in a Y-axis direction detected by a force sensor when the position of the operation unit is within a predetermined target area TR, and controls the X-axis direction drive motor and the Y-axis direction drive motor so that the operation unit moves in accordance with the first speed vector and a second speed vector acting to return the operation unit.

Abstract: To provide a motion training apparatus capable of appropriately continuing motion training while ensuring safety even when an operation unit is deviated from a target trajectory in a passive training mode. A controller of a motion training apparatus detects, by a force sensor, a force Fx in an X-axis direction and a force Fy in a Y-axis direction acting on an operation unit movable in an XY plane, and controls an X-axis direction drive motor and a Y-axis direction drive motor so that, when a magnitude of a resultant force F0 of the forces Fx, Fy is within a predetermined range, the operation unit moves along a predetermined trajectory, and when the resultant force F0 exceeds the predetermined range, the operation unit moves in accordance with a first speed vector having a magnitude for directing the operation unit from a current position to a subsequent target position.

Abstract: A leakage of a molten metal is suppressed at the time of pouring.

Abstract: [Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold.

Abstract: A leakage of a molten metal is suppressed at the time of pouring.

Abstract: [Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold.

Abstract: To enable a ladle-tilting automatic pouring device to take less time for identification of the parameters and the device to pour highly precisely by sequentially updating pouring model parameters according to the pouring situation, the present pouring control method is based on a mathematical model of a process from input of control parameters to pouring of molten metal, the method including: identifying, using an optimization technique, a flow rate coefficient, a liquid density, and a pouring start angle that is a tilting angle of the pouring ladle when the flowing of the molten metal starts, which are the control parameters in the mathematical model, based on weight of liquid that flows out of the pouring ladle and tilting angle of the ladle that are measured during pouring, and a command signal that controls the tilting of the pouring ladle; and updating the control parameters to the identified control parameters.

Abstract: [Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold.

Abstract: [Problem to be solved] To provide a pouring control method, for a ladle-tilting automatic pouring device, where the operation for identification of the parameters, which normally takes much time to complete, can take less time and the device can pour with a high degree of precision by sequentially updating pouring model parameters according to the pouring situation.

Abstract: A method for controlling the respective input voltages transmitted to a servomotor that tilts the ladle such that the molten metal that flows from the ladle drops accurately into the pouring gate in the mold, a servomotor that moves the ladle back and forth, and a servomotor that moves the ladle up and down, by using a computer. In the method, a mathematical model of the area on which the molten metal that flows from the ladle will drop is produced, and then the inverse problem of the produced mathematical model is solved. In view of the effect of a contracted flow, the position on which molten metal drops is estimated by the estimating device for estimating the pouring rate and the estimating device for estimating the position on which molten metal will drop.

Abstract: A projection display device includes an optical modulation element configured to modulate light outputting from a light source, and a projection unit configured to project light modulated by the optical modulation element on a projection screen. The projection display device includes an element control unit that controls the optical modulation element to display a test pattern image, an acquiring unit that acquires an image obtained by capturing the test pattern image from an image capture element that captures the test pattern image projected on the projection screen, and an adjusting unit that adjusts an image projected on the projection screen on the basis of the capture image acquired by the acquiring unit. The element control unit controls the optical modulation element such that a guidance image that guides focus adjustment of the image projected on the projection screen is displayed.

Abstract: [Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold.

Abstract: A method of automatically pouring molten metal from a ladle into a mold by tilting the ladle. In the method, the height of molten metal located above a molten metal outlet and the weight of molten metal flowing out of the ladle are estimated using an expanded Kalman filter on the basis of: the weight of the molten metal flowing out of the ladle, said weight being measured using a load cell; the voltage inputted to a servo motor; the angle of tilt of the ladle measured by a rotary encoder; and the position of the ladle in the lifting and lowering direction thereof. The sum of the weight of the molten metal flowing out of the ladle when the ladle is tilted rearward, said weight being estimated from the angle of tilt of the ladle and the height of the molten metal located above the molten metal outlet estimated by the expanded Kalman filter, and the weight of the molten metal flowing out of the ladle estimated by the expanded Kalman filter are estimated as the final weight of outflowing molten metal.

Abstract: To prevent a reduction in an amount of an ion emission while preventing generation of electromagnetic noise. A high-voltage generating circuit section (2) that supplies a high voltage to an ion generating element (1) that generates ions is housed in a housing (3), and sealed with filled resin (22). An emission port (12) for emitting the generated ions is formed in the housing (3), and an outer surface of the housing except the emission port is covered with a shield case (30). A passage port (33) communicating with the emission port is formed in the shield case. A periphery of the passage port of the shield case is covered with an electrically insulating covering sheet (36) so that emitted ions do not adhere to the shield case. The ions emitted from the emission port do not adhere to the shield case covered with the covering sheet.

Abstract: To prevent a reduction in an amount of an ion emission while preventing generation of electromagnetic noise. A high-voltage generating circuit section that supplies a high voltage to an ion generating element that generates ions is housed in a housing, and sealed with filled resin. An emission port for emitting the generated ions is formed in the housing, and an outer surface of the housing except the emission port is covered with a shield case. A passage port communicating with the emission port is formed in the shield case. A periphery of the passage port of the shield case is covered with an electrically insulating covering sheet so that emitted ions do not adhere to the shield case. The ions emitted from the emission port do not adhere to the shield case covered with the covering sheet.

Abstract: A projection display device includes an optical modulation element configured to modulate light outputting from a light source, and a projection unit configured to project light modulated by the optical modulation element on a projection screen. The projection display device includes an element control unit that controls the optical modulation element to display a test pattern image, an acquiring unit that acquires an image obtained by capturing the test pattern image from an image capture element that captures the test pattern image projected on the projection screen, and an adjusting unit that adjusts an image projected on the projection screen on the basis of the capture image acquired by the acquiring unit. The element control unit controls the optical modulation element such that a guidance image that guides focus adjustment of the image projected on the projection screen is displayed.

Abstract: The purpose of the present invention is to provide a method for accurately dropping molten metal that flows from a ladle into a pouring gate in a mold. The present invention includes a method for controlling the respective input voltages transmitted to a servomotor that tilts the ladle such that the molten metal that flows from the ladle drops accurately into the pouring gate in the mold, a servomotor that moves the ladle back and forth, and a servomotor that moves the ladle up and down, by using a computer. In the method, a mathematical model of the area on which the molten metal that flows from the ladle will drop is produced, and then the inverse problem of the produced mathematical model is solved. In view of the effect of a contracted flow, the position on which molten metal drops is estimated by the estimating device for estimating the pouring rate and the estimating device for estimating the position on which molten metal will drop. Then the estimated position is calculated by a computer.

Abstract: A method for controlling a ladle to pour molten metal into a mold. The method comprises producing a mathematical model describing a relationship between a measured electrical voltage supplied to a servomotor for tilting the ladle and a flow rate of the molten metal flowing out of the ladle when the ladle is tilted; solving an inverse problem of the mathematical model; estimating the flow rate of the molten metal using a state observer having an exponential damping that uses an extended Kalman filter, based on the measured electrical voltage and a weight of the molten metal poured into the mold; processing the flow rate of the molten metal and a target flow rate of the molten metal with a gain-scheduled PI controller; obtaining a target electrical voltage to be supplied to the servomotor; and controlling the servomotor based on the target electrical voltage.

Abstract: A method of automatically pouring molten metal from a ladle into a mold by tilting the ladle. In the method, the height of molten metal located above a molten metal outlet and the weight of molten metal flowing out of the ladle are estimated using an expanded Kalman filter on the basis of: the weight of the molten metal flowing out of the ladle, said weight being measured using a load cell; the voltage inputted to a servo motor; the angle of tilt of the ladle measured by a rotary encoder; and the position of the ladle in the lifting and lowering direction thereof. The sum of the weight of the molten metal flowing out of the ladle when the ladle is tilted rearward, said weight being estimated from the angle of tilt of the ladle and the height of the molten metal located above the molten metal outlet estimated by the expanded Kalman filter, and the weight of the molten metal flowing out of the ladle estimated by the expanded Kalman filter are estimated as the final weight of outflowing molten metal.