Abstract: A nanostructure sensing device includes a substrate, a nanotube disposed over the substrate, and at least two conductive elements electrically connected to the nanotube. A electric current on the order of about 10 ?A, or greater, is passed through the conductive elements and the nanotube. As a result, the nanotube heats up relative to the substrate. In the alternative, some other method may be used to heat the nanotube. When operated as a sensor with a heated nanotube, the sensor's response and/or recovery time may be markedly improved.

Abstract: A method for testing leakage of a pipe passage employs a flow rate of gas used in testing supplied to the inside of a pipe passage undergoing testing hermetically sealed on one side while detecting flow rate with a flow measuring device and pressure with a pressure detector, and detecting temperature of the gas used, and inputting the detected values of pressure, flow rate and temperature into a computation treatment apparatus, and internal capacity VL of the pipe passage is computed as VL=(supplied flow rate Q×pressure applied time ?t)/(pressure rise value ?P2), and next, the volume QL leaked from the pipe passage is computed as QL=(pressure drop value ?P2?×internal capacity VL)/(pressure drop time ?t?).

Abstract: The present invention includes a method and system using dynamic pressure measurements for determining a presence, location, and size of a leak in a chamber of a body. The method includes sealing a plurality of ports of the chamber, pressurizing the chamber with a fluid, measuring a dynamic pressure at each of the plurality of ports, and analyzing the dynamic pressure measured at each of the plurality of ports to determine a presence, location, and/or size of the leak. The location of the leak can be determined by analyzing magnitude and/or phase values from a generated frequency response function matrix, interpolating between two of the plurality of ports, triangulating between three of the plurality of ports, and/or analyzing a rate and profile at which the pressure decays at each of the plurality of ports to determine the location of the leak.

Abstract: [Problems] To provide a sealing status inspecting apparatus and a sealing status inspecting method, by which nondestructive inspection is facilitated without requiring cutting nor opening of a paper container nor cutting of a container wall for making a sample, and all the products are inspected on a manufacturing line. [Means For Solving Probiems] A laminated packaging material is composed of a thermoplastic material outermost layer, a paper base material layer, a conductive barrier layer and a heat sealing innermost layer. An apparatus inspects an opening section, which is formed by at least partly eliminating the thermoplastic material outermost layer and the paper base material layer and by being sealed to be easily opened.

Abstract: This invention relates to a device and method for optical nanoindentation measurement, according to which respective measurement results are obtained by having an indenter tip apply load to a fixed portion of a thin film, having an indenter tip apply load to a non-fixed portion of a thin film, and having a vibrating component transmit the dynamic properties of the vibration to the thin film. By combining the above measurement results in calculations, the Young's modulus, the Poisson's ratio, and the density of the thin film can be obtained.

Abstract: Disclosed an indentation testing instrument including: a loading lever supported pivotally; an indenter provided on the loading lever; an indenter linkage section; a loading lever driving section; a reference lever supported pivotally having a same shaft center as the loading lever; an indenter reference section provided on the reference lever as a positional reference of a tip portion of the indenter; an indenter position detection section; a reference lever driving section; a stopper to stop the reference lever; a specimen surface reference measurement member to turn the loading lever from the state that the indenter reference section touches the specimen surface, and to measure a first indentation depth amount; and a machine frame reference measurement member to turn the loading lever from the state that the reference lever touches the stopper and the indenter reference section is spaced apart from the specimen surface, and to measure a second indentation depth amount.

Abstract: Glide test systems and associated methods are described. A glide test system includes a glide test head that is flown over the surface of a recording disk to detect asperities on the recording disk. The glide test head includes a detection pad on the trailing end of the head. Heating elements are fabricated proximate to the detection pad. The heating elements are independently controllable to control the amount of protrusion of different regions of the detection pad. The heating elements thus provide a way to substantially flatten the detection surface of the detection pad, and compensate for an uneven topography on a detection surface.

Abstract: A method for measuring blade tip clearance for a gas turbine engine having a fan case assembly and a rotor having a plurality of blades may include the steps of removably attaching a measurement tool to the fan case assembly, the measurement tool having a sensor, rotating the rotor, and measuring blade tip clearance for the plurality of blades during the rotation of the rotor.

Abstract: A level adjusting circuit which adjusts input pulses from an antenna to a level suitable for determining the number of engine revolutions, is connected in a circuit that connects the antenna with a determining circuit. An optimum adjustment of the determination level by manual operation allows the pulses inputted to the determining circuit to be precisely determined at all times.

Abstract: A system designed to simulate an internal combustion engine having improper valve timing is provided. The purpose of the simulation system is to calibrate and/or validate a proprietary cam-crank correlation diagnostic algorithm. The simulation system includes a simulator module that communicates with crankshaft and camshaft position sensors and an engine control module. The simulator module includes: a first selector that selects a shift value for shifting a periodic signal; and a modification module that receives a camshaft position signal from the camshaft position sensor and that generates a modified camshaft position signal based on the crankshaft position signal and the shift value.

Abstract: An error detection apparatus detects an error of a NOx sensor, which is located on a downstream side of a NOx remover in a discharge passage of the internal combustion engine. In the error detection apparatus, a running state detector detects a running state of the internal combustion engine. An unsteady state determiner determines whether the running state of the internal combustion engine detected by the running state detector is unsteady or not. A NOx amount retriever retrieves the amount of NOx on the downstream side of the NOx sensor by receiving an output signal of the NOx sensor. An error determiner determines the error of the NOx sensor on the basis of the amount of the NOx that is retrieved by the NOx amount retriever during a predetermined period under the running state of the internal combustion engine including the unsteady state determined by the unsteady state determiner.

Abstract: A method and system is provided for determining non-sensed vehicle operating parameters of a vehicle system. The method and system further provide for determining an engine air mass flow rate using the non-sensed vehicle operating parameters. A plurality of vehicle operating set-points may be determined using the non-sensed vehicle system operating parameters and the non-sensed engine air mass flow rate. A controller may use the vehicle operating set-points in order to control emissions of the vehicle system.

Abstract: A rotation detecting device for detecting the rotational speed of a gear in a transmission without increasing the width of the gear in the axial direction, using any expensive sensor and not limiting the location of a shift drum. An internal combustion engine includes a crankcase in which a crankshaft and a transmission are accommodated. The transmission includes a plurality of gears for shifting, an input shaft for inputting a rotational drive force from the crankshaft, and an output shaft wherein the rotational drive force is transmitted from the input shaft through the gears and to the output shaft to a drive wheel. The internal combustion engine includes rotation detecting devices for respectively detecting the rotational speeds of the gears. The rotation detecting devices respectively include detecting portions opposed to the gears rotating with the rotation of the input shaft and positioned in the axial direction of the transmission.

Abstract: A wireless and batteryless pressure sensor apparatus comprises of a SAW sensor and an antenna mounted on a printed circuit board. Optionally, and RFID tag in used in combination with the SAW sensor. A sensor antenna and a RFID antenna can be located on the printed circuit board such that the antennas communicate electrically with the sensor and the RFID device. The sensor can be interrogated utilizing a radio frequency, which is used to excite a SAW crystal inside the sensor. The interrogation signal causes the SAW to resonate wherein a resonant frequency changes with the pressure and temperature that is applied to the sensor. An interrogator can receive a return (echo) signal representing a change in SAW sensor properties (e.g., diaphragm change). A printed circuit board can be mounted on a stainless steel port and overpackaged with standard processes for hermetically sealing the sensor, or sensor and RFID device with at least one antenna.

Abstract: The method and apparatus of the present invention provides for detecting a flow of a formation fluid entering into a wellbore. An ultrasonic sensor is placed in a wellbore. The sensor has a resonant member that is exposed to a fluid in the wellbore. At a location in the wellbore, acoustic energy is measured wherein the acoustic energy is related to turbulence from formation fluid entering the wellbore. In another embodiment of the invention a tool is provided for detecting a flow of a formation fluid into a downhole location in a wellbore. The ultrasonic sensor has a resonant member that is adapted to be in contact with a fluid in the wellbore. The sensor generates electrical signals when exposed to ultrasonic turbulences caused by a formation fluid entering into the wellbore. A processor processes the electrical signals to detect the flow of the formation fluid entering into the wellbore.

Abstract: Examples of techniques for analyzing well data which may be encountered during formation testing are disclosed. Certain portions of the tests may exhibit an indication of anomalous behavior, defects, errors or events that may have occurred during testing. One or more confidence tokens may be identified during or after the execution of a test. One or more of these confidence tokens may be analyzed to determine whether such anomalous behavior, defects, errors or events have occurred during the test. These confidence tokens may then be used to determine a level of confidence in the results derived from the tests performed and/or their underlying data and interpretation.

Abstract: A testing device is provided for testing an optical rain sensor which is designed to determine a measure of moisture by determining a reflected portion of a light beam, which testing device has a mounting device for holding the rain sensor and test equipment which is positioned in the light beam, movably, for example, the test equipment having an area which is designed to reflect a predefined portion of the light beam.

Abstract: A system and/or method for sensing the presence of moisture (e.g., rain) and/or other material(s) on a window such as a vehicle window (e.g., vehicle windshield or backlite). In certain example embodiments, a capacitor-based system and/or method is provided for auto-correlating sensor data to determine the existence of a material on the window, and then cross-correlating sensor data to identify the type and/or amount of that material (e.g., rain). This data may be used to actuate and/or deactivate a vehicle's wiper(s), and/or adjust wiper speed. In certain example embodiments, the sensor may include an array of at least two capacitors.

Abstract: A flowmeter determines the flow direction of a fluid. The flowmeter has a measuring element, around which the fluid flows and which comprises at least one fiber-optic cable and at least two electrical heating elements that lie adjacent to the fiber-optic cable(s) by a respective heat stream emanating from the respective heating element and directed towards at least one fiber-optic cable, the directions of the heat streams being at least proportionately reversed. In addition, the values of the individual heat streams can be influenced to different extents, depending on the flow direction of the fluid. An electromagnetic wave that can be coupled into the fibre-optic cable(s) can also be influenced according to the temperature of the fibre-optic cable(s).

Abstract: A liquid level sensor device (10) includes a liquid level sensor element (14), a capacitance-to-voltage converter (16), and a controller (18). The liquid level sensor element (14) comprises (i) at least two sets of N conductive electrodes (22) and (ii) M sense lines (S1-S7), where M is greater than or equal to N within each set of the at least two sets of conductive electrodes. Each of the M sense lines couples to select ones of the N conductive electrodes of the at least two sets of conductive electrodes to form a number of L sets of parallel coupled conductive electrodes, where L equals M. The capacitance-to-voltage converter (16) periodically measures a capacitance of the L sets of parallel coupled conductive electrodes for each of the M sense lines. The controller (18) establishes initial measured baseline capacitance values for each of the L sets of parallel coupled conductive electrodes and an initial liquid level height value.

Abstract: The invention relates to measuring devices to be used in the measuring of angular velocity and, more precisely, to vibrating micromechanical sensors of angular velocity. In a sensor of angular velocity according to the invention, a mass is supported to the frame of the sensor component by means of an asymmetrical spring structure (1), (2), (3), (4), (22), (24) in such a way, that the coupling from one mode of motion to another, conveyed by the spring (1), (2), (3), (4), (22), (24), cancels or alleviates the coupling caused by the non-ideality due to the skewness in the springs or in their support. The structure of the sensor of angular velocity according to the invention enables reliable measuring with good performance, particularly in small vibrating micromechanical solutions for sensors of angular velocity.

Abstract: Provided is a horizontally located sensitive angular velocity sensor capable of easily eliminating influence of acceleration in a lateral direction and whose fixed section is easily fixed. The angular velocity sensor includes a pair of fixed sections fixed on a top of an sensor support section of a case, a detection arm extending along a plane parallel to the sensor support section, and a pair of upper drive arm and lower drive arm extending along the plane parallel to the sensor support section and extending in a direction opposite to each other so as to intersect an extending direction of the detection arm.

Abstract: A vibration-type inertia force sensor includes: an oscillator; a driving section for oscillating the oscillator; a sensing section for sensing a strain caused in the oscillator due to an inertia force; and a power supply section for supplying power to the driving section and the sensing section in a normal state and for supplying power to one of the driving section and the sensing section and not supplying power to the other of the driving section and the sensing section in a power-saving state.

Abstract: An angular velocity sensing element is provided, which is able to prevent breakage of an oscillation arm even when an excessively large shock is given. An angular velocity sensing element 2 according to the present embodiment includes oscillation arms 22, 23 and 24 formed of a semiconductor material, and a stopper member provided to limit the oscillation range of the oscillation arms. As such a stopper member, a first stopper member 25 is provided, for example, which limits the oscillation range of the oscillation arms at least within a single plane of the arms. Fixing portions 21, the oscillation arms 22, 23 and 24 and the first stopper member 25 are integrally formed by processing a semiconductor material, such as silicon.

Abstract: An angular velocity sensor includes a substrate having an upper surface having a first recess provided therein, an electronic component mounted in the first recess, and a vibration element mounted onto the upper surface of the substrate. The first vibration element has a portion located directly above the electronic component. This angular velocity sensor has a small size.

Abstract: A three-axis MEMS transducer featuring a caddie-corner proof mass comprises a planar main body portion of conductive material and a planar extra mass caddie-corner feature. The main body portion includes a width, length, and at least four side edges. An x-axis sense direction is defined from a first side edge to an opposite first side edge and a y-axis sense direction is defined from a second side edge to an opposite second side edge. The x-axis sense direction is perpendicular to the y-axis sense direction. The main body portion further includes at least two corners. The caddie-corner feature is positioned about at least one of the two corners of the main body portion. The caddie-corner feature and the main body portion comprise a single proof mass having a z-sense pivot axis disposed at an angle of ninety degrees to a diagonal extending from the caddie-corner feature to an opposite corner of the main body portion.

Abstract: A sensor is disclosed for analyzing information, such as interfacial interactions, found in various systems. A sensor is located proximate to an interface that is to be studied. The sensor is actuated in order to produce acoustical signals. The frequency of oscillation of the sensor is varied in order to enable the sensor to produce acoustical signals at different harmonics. The different acoustical signals are used to analyze the system at various distances from the surface of the sensor.

Abstract: A dual mode measurement system with quartz crystal microbalance (QCM) is provided, which includes a quartz sensing component, a first measurement circuit, a second measurement circuit and a switch unit. When the first measurement circuit is selected through the switch unit, the first measurement circuit and the quartz sensing component form an oscillation circuit and output a resonance signal. When the second measurement circuit is selected through the switch unit, the second measurement circuit outputs a frequency scanning signal to scan the quartz sensing component, so as to output an impedance sensing signal.

Abstract: An ultrasonic wave propagating method capable of propagating plate waves between a probe and a test piece despite variations in the thickness or the surface angle of a test piece, and an ultrasonic propagating device and an ultrasonic testing device using this method. Ultrasonic waves are propagated between a probe (20) for transmitting or receiving ultrasonic waves and a test piece (100) for propagating plate waves. When propagating ultrasonic waves, a probe that can set an ultrasonic wave incident angle from the probe (20) to the test piece (100) and/or an ultrasonic wave receivable angle from the test piece to the probe in a plurality of states is used. A focal point type probe may be used as the above probe (20).

Abstract: An apparatus for inspecting samples that may include a curvature that varies from sample to sample comprises a scanning element, a feed mechanism, and a pivot mechanism. The scanning element transmits and receives a signal to and from the sample as the sample passes by, thereby building an image or profile of the sample. The feed mechanism includes a drive motor coupled to a series of pulleys and belts that form an open-ended chain. The pulleys rotate when driven by the drive motor and are coupled to an array of rollers that rotate as well to propel a inspection sample past the scanning element. The pivot mechanism includes a series of primary and secondary links that also form an open-ended chain. The primary links are coupled to the rollers and the combination pivots in unison to form an arc that matches the curvature of the sample in order to maintain a fixed distance between the sample and the scanning element.

Abstract: A phased array ultrasonic probe assembly includes, in an exemplary embodiment, a housing and a phased array transducer supported inside the housing. The housing includes a first side wall and an opposing second side wall, and a first end wall and an opposing second end wall. The first and second side walls and the first and second end walls define a housing cavity in which the phased array transducer is positioned. The first and second side walls each have an inside surface that include a plurality of projections.

Abstract: For example, to adjust an offset of a pressure sensor, there are provided an external resistor RE and an internal resistor circuit that is connected to both ends of RE and formed in a semiconductor chip such as a processor. The internal resistor circuit includes N pieces of internal resistors RI connected in series between both ends of RE, and (N+1) pieces of switches selecting one of voltages of respective nodes of the serial resistors and outputs the same as a signal. RE has a high absolute value precision of, e.g., several ten ohms to several hundred ohms, and RI has a high relative value precision of, e.g., several kilo-ohms. Therefore, an offset adjustment range is decided at a high absolute value precision mainly by RE, and with regard to the arrangement resolution, a high precision can be obtained along with the relative value precision of the RI.

Abstract: A method is used to determine the viscosity of a fluid. The method includes arranging a body (11) in a fluid-leading channel, with which vortices form in the flow direction (10) therebehind, which are detected with regard to measurement technology. Also, the flow speed in the channel, at which vortices arise for the first time or barely just continue to exist, is determined, and this speed is used as a measure for the viscosity of the through-flowing fluid.

Abstract: Fluid flow apparatus, such as a fluid flow meter, a fluid mixing device or a fluid dispersing device, includes a fluid displacement member (40) mounted in a conduit (20) and having a sloped exterior wall (48) forming a periphery on the member for deflecting the fluid to flow through a region of progressively decreasing area defined between the periphery of the member and the interior surface of the conduit. The displacement member is a hollow frustum (42) terminating at the plane of its outer peripheral edge (46) and accommodating flow measurements at or adjacent the axis of the conduit at or adjacent the plane of the peripheral edge of the displacement member.

Abstract: Motion is induced in a conduit that contains a fluid. The motion is induced such that the conduit oscillates in a first mode of vibration and a second mode of vibration. The first mode of vibration has a corresponding first frequency of vibration and the second mode of vibration has a corresponding second frequency of vibration. At least one of the first frequency of vibration or the second frequency of vibration is determined. A phase difference between the motion of the conduit at a first point of the conduit and the motion of the conduit at a second point of the conduit is determined. A quantity based on the phase difference and the determined frequency is determined. The quantity includes a ratio between the first frequency during a zero-flow condition and the second frequency during the zero-flow condition. A property of the fluid is determined based on the quantity.

Abstract: An electronic torque tool with multiple color display assembly comprises a driving portion formed at one end of the spanner body for driving an object; a handle formed at another end of the spanner body for being held by users; and a display portion installed between the driving portion and the handle; the display portion having a display screen for displaying related data; and a color display control module being built in the display screen for emitting lights of different colors so as to display the variation of data and change the background of the screen so that the user can identify the data and variation f the data easily and clearly.

Abstract: An electroactive polymer is used to produce a tactile sensor. The electroactive polymer (EAP) includes a sheet of an ion-exchange membrane having opposite surfaces on which are plated gold electrodes. The EAP is formed to have a dome-shape with a plurality of sensing electrodes circumferentially disposed around an outer surface of the dome. A flexible polymer underlying the EAP supports it and prevents a force applied to the tactile sensor from inverting the dome. The sensor electrodes produce separate output signals indicative of different vector components of an applied force acting on the tactile sensor, so that a direction of the force can be determined. Vias provided in the electrodes are electrically coupled to a flexible circuit that conveys the output signals externally from the sensing electrodes for use and further processing. A plurality of the tactile sensors can be formed as an array on an ion-exchange membrane.

Abstract: To determine the backlash in an arrangement in which a motor moves a load via a transmission mechanism, a transducer is used which is present anyway in conventional production machines and which measures an angular position or translatory position of the drive element or a derivative of this quantity. Via the transducer the effect of the backlash on the actual position of the drive element is measured, the actual position being different from the desired position, which is defined by the forces or torques acting on the drive. On the basis of a frequency analysis, quantities can be derived which permit the use of threshold criteria. For example, the drive is driven with a periodic signal which is close to the absorber frequency, i.e. a frequency at which the absorption by the transmission mechanism is greatest.

Abstract: A sensor includes a shaft and a magnetic sensor. The shaft may have at least one magnetized active region. The magnetic sensor may be configured to sense a magnetic field about the shaft, and may provide an output representative of torque applied to the shaft, shaft rotational speed and shaft rotational position.

Abstract: Methods and devices based on a microelectromechanical capacitive sensor are disclosed. In one embodiment, a method for fabricating an electromechanical capacitive device includes forming a housing of the electromechanical capacitive device using a non-conductive material and applying a conductive material on one or more areas on the housing to form one or more pairs of conductor plates.

Abstract: A magnetometric device for evaluating a physical parameter (D, K), comprising a circuit (1) which is sensitive to a magnetic field, a measurement circuit (2) and a magnetic field generator (3), the sensitive circuit (1) being subjected to a magnetic field which varies with the physical parameter to be measured and having an electrical characteristic which is evaluated by the measurement circuit and which varies as a function of the magnetic field. The field generator (3) is designed to reverse the polarity of the applied magnetic field, the evaluation of the physical parameter thus being able to be corrected of the parasitic influence of the terrestrial magnetic field.

Abstract: The invention relates to a polymerase chain reaction (PCR) process and a thermal cycler. In the process, biological samples are held in a sample carrier having a plurality of sample spaces each having upper and lower ends and the samples are sequentially heated and cooled. The thermal cycler according to the invention comprises heat transfer means for automatic heating and cooling of the samples in the sample carrier, heatable closure means above the upper ends of the samples spaces for preventing condensation of sample vapor during the process, and adjusting means for controlling one process parameter, preferably the temperature of the heatable closure means, depending on at least one other of said process parameters. The invention helps to decrease the number of failed PCR experiments, in particular due to changes in sample volume.

Abstract: A method is provided for sampling hot gas. The method includes inserting a probe into a flow of hot gas, and collecting a sample of the hot gas with the probe. The sample of the hot gas is quenched prior to an analysis of the sample.

Abstract: The present invention relates to a system for pretreating a test sample in order to analyze a test sample containing suspended solids in an on-line analyzer can, and more particularly to an ultra filtration system for an on-line analyzer for filtering suspended solids in order to stably quantitatively analyze a test sample containing a large amount of suspended solids using a module-type hollow fiber membrane filter intake system in an online analyzer. The ultra filtration system according to the present invention may be useful to obtain a reliable analysis result of a test sample using a filtered water in the field of environments, foods, chemistry, microorganisms, etc.

Abstract: A wipe sampling assembly used for an ion mobility spectrometer is disclosed. The wipe sampling assembly comprises three layers in which the upper layer and the lower layer are protective paper sheets, while the middle layer is a sampling swab. The swab will not be contaminated when not in use as it is covered by the two protective paper sheets. The hand can only contact the protective paper and will not contact the swab while sampling to prevent the swab from being contaminated. The above wipe sampling assembly is used with no need for any additional device, thus making it easy to operate and carry.

Abstract: Dissolution test equipment (e.g., apparatus) and methods for testing are disclosed. Such methods and equipment may be advantageously used for testing of drug or active pharmaceutical ingredient (API) preparations, including drug formulations and dosage forms.

Abstract: A device for transmitting rotary motion. The device includes a motion-transmitting member for transforming an alternating rotary motion of a input drive shaft into a unidirected rotary motion of a driven body driven about a drive shaft. The motion-transmitting member includes an intermediate body rotatable about an axis of rotation. A mechanical energy accumulation member is mechanically connected to the driven body. The intermediate body includes a cam disk in the form of a driving pulley and the mechanical energy accumulation member includes a tensile/compressive spring unit.

Abstract: An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.

Abstract: In a ball screw device, a ball screw nut is rotated, causing a screw shaft to rectilinearly move in the axial direction, and the limit of the movement of the screw shaft is determined by a stopper. The ball screw device includes a hollow shaft that rotates together with the ball screw nut and in which the screw shaft is movably fitted. The hollow shaft is provided with a small diameter portion that exerts a dragging force on the screw shaft before the screw shaft reaches the limit, and a buffer layer is formed on a tip portion of the screw shaft.

Abstract: A twin clutch type speed-change apparatus for detecting the engagement state of a dog clutch by use of the rotational speed difference between an inner main shaft and an outer main shaft and of a signal outputted from a gear position sensor. A rotational speed difference between an inner main shaft and an outer main shaft is detected by use of inner and outer rotational speed sensors. When the engagement of the dog clutch is to be released, it is judged to complete the release if the signal outputted from the gear position sensor indicates a speed step number after shifting and the rotational speed difference is zero. It is judged as a dog-tip caught state if the signal outputted from the gear position sensor indicates a speed step number before or after shifting and the rotational speed difference is a transmission gear ratio difference.