Abstract: A use resource setting device includes a control unit and a storage unit. The storage unit holds resource type information, work time information, and production plan information. A use resource setting method includes the control unit predicting calculation accuracy of required time of work in a use resource plan in which one or more resources are allocated to work in each process of producing the product, based on the resource type information, the work time information, and the production plan information, and, predicting an evaluation index for producing the product when the use resource plan is adopted, based on the use resource plan, the work time information, and the production plan information. The predicting of the evaluation index includes predicting a variation in the evaluation index based on the calculation accuracy of the required time of the work in the use resource plan by the control unit.

Abstract: A digital technology transfer system transforms technology transfer documents to a set of digitized manufacturing procedures and operations documentation. The system can transform a technology transfer document to a hierarchical structured model representing a package, or product to be manufactured, and the process for manufacturing the product. The resulting package model can be integrated into a larger model representing an ecosystem of manufacturing entities and plant facilities by assigning steps of the manufacturing process to one or more selected production lines. To reduce dependency on custom-built parsers for each type of document format, the system integrating both custom and general parsing mechanisms into a scalable parser orchestration engine.

Abstract: The present disclosure relates to a simulation apparatus for secondary battery production. The simulation apparatus for secondary battery production comprises a memory configured to store at least one instruction and at least one processor configured to execute the at least one instruction stored in the memory to perform operations including: receiving information related to a user account of a user who uses a simulation apparatus related to secondary battery production; executing an apparatus operating unit including a 3D coater related to secondary battery production, a facility operating unit including a plurality of adjustment parameters for determining operation of the 3D coater, and a quality checking unit including quality information related to quality of a material produced by the 3D coater when information related to the user account is received.

Abstract: A production line design apparatus includes: a storage unit that stores facility configuration information that defines a number configuration including at least one or more main facilities that perform a main work in a production line and at least one or more setup facilities that perform an auxiliary work of the main facility, and arrangement pattern definition information including one or more arrangement patterns that define a combination of a movement method of the setup facility that is adoptable and a relative positional relationship between the main facility that is adoptable and the setup facility; and a processor that executes layout candidate generation processing of generating layout information that satisfies the number configuration by combining the arrangement patterns using the facility configuration information and the arrangement pattern definition information.

Abstract: A system, including: a communication interface operable to receive sensor data related to a state of an object; object state estimation processor circuitry operable to estimate, based on the sensor data, a prospective probability of a degradation of the state of the object; and cobot fleet control processor circuitry operable to generate a command for either a transport cobot operable to transport the object, or another actor, to take proactive action to mitigate the prospective probability of the degradation of the state of the object.

Abstract: A building management system including one or more storage devices storing instructions thereon that, when executed by one or more processors, cause the one or more processors to ingest asset information; cause a graphical model of the building to include a fault indicator based on the asset information, the fault indicator corresponding to a fault occurring on a first physical asset corresponding to a first virtual asset; cause a display device of a user device to display the graphical model within a user interface; receive a selection of the fault indicator from a user via the user interface; and in response to receiving the selection, cause the user interface to navigate to a fault-driven view of the graphical model depicting the first virtual asset and one or more second virtual assets corresponding to one or more second physical assets affected by the fault occurring on the first physical asset.

Abstract: Provided is a machine state detecting device capable of easily detecting the state of a machine, regardless of whether an unknown operation that is not expected to cause damage is performed. A state detecting device 100 includes a collection device 1a that collects, at a plurality of times, state information if indicating the state of the machine that changes chronologically, and an arithmetic processing device 1b that processes a plurality of pieces of the state information if collected at the plurality of times to detect the state of the machine.

Abstract: A method for evaluating a necessary maintenance measure of a machine includes determining one or more influencing variables, receiving the one or more influencing variables, ascertaining a risk of failure and/or a likelihood of failure, and generating a recommendation. The one or more influencing variables are relevant to the wear or damage of a machine component. The one or more influencing variables are received by way of the evaluation unit. The risk or likelihood of failure are ascertained by way of an estimation model. The recommendation is associated with a maintenance measure and is generated by way of the evaluation unit on the basis of the ascertained risk of failure and/or the likelihood of failure.

Abstract: According to one embodiment, an anomaly sign detection system comprising one or more computers configured to: calculate a correction value for correcting at least one actual process value from the at least one actual process value and at least one reference process value; determine whether each of plurality of actual process values is correlated with the at least one reference process value or not, based on correction-necessity coefficient of determination; use the correction value for correcting at least one actual process value determined to be correlated with the at least one reference process value among the plurality of actual process values; generate learning input data including at least one corrected process value as the at least one actual process value corrected by the correction value; and perform machine learning by inputting the learning input data to anomaly sign detection model.

Abstract: A system and a method of controlling a drone based on pressure are provided. The method includes: installing a pressure sensor under a bearing surface of a platform body; obtaining a pressure distribution map via the pressure sensor; obtaining a centroid on the bearing surface by inputting the pressure distribution map to a machine learning model; calculating a vector from a reference centroid on the bearing surface to the centroid; and controlling a flight of the drone according to the vector.

Abstract: Adjusting a navigation path of a worker land roaming edge device is provided. The worker land roaming edge device is identified moving along a navigation path to an asset to perform a task. It is determined that the worker land roaming edge device cannot reach the asset to perform the task due to an environment change along the navigation path. A set of task performance alternatives is generated in response to determining that the worker land roaming edge device cannot reach the asset to perform the task. A task performance alternative of the set of task performance alternatives is selected based on a set of criteria. The navigation path of the worker land roaming edge device is adjusted in accordance with the selected task performance alternative. The adjusted navigation path is sent to the worker land roaming edge device to dynamically adjust operation of the worker land roaming edge device.

Abstract: The present disclosure generally relates to autonomous operation of material handling vehicles within a facility, such as a factory or warehouse. An unmanned, autonomous material handling vehicle can encounter a variety of issues operating within the facility, and may need assistance to resolve such issues. The unmanned, autonomous material handling vehicle can transmit a request for assistance to a manned, non-autonomous material handling vehicle, and a human operating the manned, non-autonomous material handling vehicle can assist the unmanned, autonomous material handling vehicle.

Abstract: A method for controlling an unmanned aerial vehicle using a control apparatus, comprises: executing a navigation process by: obtaining a live video moving image from a navigation camera device of the UAV; and generating a navigation display interface for display on a display device of the control apparatus, the navigation display interface comprising a plurality of navigation augmented reality display elements related to a determined waypoint superimposed over the live video moving image; and when the UAV reaches the determined waypoint, executing a precision landing process by: generating a precision landing display interface for display on the display device, the precision landing display interface comprising a plurality of precision landing AR display elements related to a landing target associated with the determined waypoint superimposed over the live video moving image obtained from a precision landing camera device of the UAV.

Abstract: A remote operation control method for controlling a remote operation of a moving body is provided. A video captured by a camera mounted on the moving body is transmitted to a remote operator terminal on a side of a remote operator remotely operating the moving body. The remote operation control method includes: setting an upper limit speed of the moving body during the remote operation to be lower as a quality of the video transmitted from the moving body to the remote operator terminal becomes lower or as an encoding and decoding time of the video becomes longer; and limiting a speed of the moving body during the remote operation to the upper limit speed or less regardless of an operation amount input by the remote operator.

Abstract: Embodiments of the present application provide a method, device, storage medium, and electronic device for controlling flight equipment, wherein the method includes: acquiring positioning position information from a positioning system deployed on a target flight equipment; detecting an operating state of the positioning system according to positioning position information, wherein the operating state comprises: normal state and abnormal state; when the operating state is an abnormal state, controlling the target flight equipment to return to a ground control terminal according to the relative position information between the target flight equipment and the ground control terminal of the target flight equipment.

Abstract: Aspects of the subject disclosure may include, for example, a method in which a processing system configures one or more robots to perform tasks in an establishment, and assigns to the robots privileges and/or priorities in accordance with a policy. The method also includes detecting a situation in the establishment requiring performance of a task; facilitating the performance of the task by at least one of the robots; and dynamically reprogramming at least one of the robots in response to the situation to perform a specialized task to address the situation. Other embodiments are disclosed.

Abstract: In a ship control system of one embodiment, a main engine controller performs, when controlling the rotational frequency of a main engine based on a target ship speed of a ship, feedback control of an actual ship speed of the ship to perform ship speed control for bringing the actual ship speed closer to the target ship speed. A turning judgment unit judges whether or not the ship will turn. A control change unit performs, when the turning judgment unit has judged that the ship will turn, lowering processing for lowering the responsiveness of the ship speed control.

Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.

Abstract: Systems, methods, and computer programmable products are described herein for detecting a suspended load by an autonomous vehicle maneuvering about an environment. A scanning device mounted on and perpendicular to a top surface of the autonomous vehicle receives a plurality of data points surrounding the autonomous vehicle. A point detection module detects whether an object is present within a detection range of the autonomous vehicle by: clustering subsets of the plurality of data points and determining whether at least one clustered subset of the plurality of data points is within the detection range. Based on the object being present within the detection range, at least three features are extracted from the object to detect whether the object is a suspended load. The maneuvering of the autonomous vehicle is controlled based on detection of the suspended load.

Abstract: A robot, includes: a driver; a plurality of sensors; a memory; and at least one processor configured to transmit a first signal for identifying a presence or absence of an object within a sensing area of the plurality of sensors through a first sensor operating in the signal transmitting mode from among the plurality of sensors during a first time period, identify, a second sensor to transmit a second signal during a third time period after elapse of the second time period from among the plurality of sensors, transmit the second signal by operating the identified second sensor in the signal transmitting mode, identify a location of the object based on whether a second reflection signal corresponding to the second signal is received at the second sensor, and control the driver to travel by avoiding the object based on the identified location of the object.

Abstract: A system includes a vehicle and a control device. The vehicle includes a reception unit for receiving an instruction related to remote control from the control device, a vehicle control unit for executing any one of first vehicle control and second vehicle control, the first vehicle control being control based on the instruction related to the remote control, and the second vehicle control being control determined by the vehicle itself in accordance with a traveling environment, and a transmission unit for notifying a predetermined control result to the control device when the second vehicle control is executed by the vehicle control unit. The control device includes a remote control unit, a transmission unit, and a reception unit. When the control result is notified from the vehicle, the remote control unit of the control device executes the remote control based on a content of the control result.

Abstract: A processor-implemented method includes classifying a plurality of aisles into a single-sided docking aisle and a double-sided docking aisle within a structure including a plurality of workstations are arranged in the aisle, determining positions of each of a plurality of logistics robots within each section of each aisle based on received respective positions of respective logistics robots and received respective states of the respective logistics robots, counting a first number of moving logistics robots in each section of each aisle and a second number of waiting logistics robots in each section of each aisle, performing a first traffic control with respect to logistics robots that have entered the traffic section, performing a second traffic control with respect to logistics robots that have requested a docking-out, and generating and assigning a mission corresponding to a result of the first traffic control and the second traffic control.

Abstract: A mobile body authentication apparatus capable of preventing an autonomously movable mobile body from illegally moving without permission is provided. A mobile body authentication apparatus includes at least one memory configured to store instructions, and at least one processor configured to execute the instructions to: acquire, from an autonomously movable mobile body, remote identification information, which is information for managing a remote operation of the mobile body, position information indicating the current position of the mobile body, time information that indicates the current time in the mobile body, and authentication information; and execute collation based on the whole of part of the information; and output the result of collation.

Abstract: A map display method comprises: obtaining room map data and regional map data; drawing a room map according to the room map data, and drawing a regional map layer on the room map according to the regional map data; and displaying the room map that is covered by the regional map layer.

Abstract: This disclosure introduces methods and devices for robotic police officer assistance, incorporating an articulating spotlight, removable camera, spike strip delivery, and chemical agent dispenser, aiming to enhance officer safety during common police activities by allowing remote operation and minimizing the need for officers to be physically present in dangerous situations. Presented herein are methods and devices for robotic police officer assistance. The device comprises an articulating spotlight, a removeable camera, a spike strip delivery mechanism, and a chemical agent dispenser. The robot is controlled by a police officer so that the actions of the robot can be controlled from a position that is safe for the officer. By directing the robotic device, it is not necessary for an officer to be placed in in a dangerous position to conduct some of the most common police activities.

Abstract: According to one aspect, methods to validate an autonomy system in conjunction with a teleoperations system are provided. A computing device obtains simulation data of an autonomous driving system of a vehicle. The simulation data includes first environment data representing an environment in which the vehicle is driven using the autonomous driving system. The computing device obtains teleoperations driving data of a teleoperations driving system by which the vehicle is remotely controlled with an aid of a human. The teleoperations driving data includes second environment data representing the environment in which the vehicle is driven using the teleoperations driving system. The computing device determines whether the autonomous driving system in conjunction with the teleoperations driving system meets a minimum deployment standard based on the simulation data and the teleoperations driving data.

Abstract: Flight control systems, flight control laws, and aircraft are provided. An flight control system includes an input configured to receive a pitch rate command, a processor operative to receive the pitch angle command, to calculate a pitch angle saturation limit, to compare the sum of the pitch rate command, the scaled pitch rate, and the scaled pitch angle to the pitch angle saturation limit, to convert the pitch rate command system to the pitch angle command system in response to the sum exceeding the pitch angle saturation limit value to limit the pilot pitch-up pitch rate command, and to couple the pitch rate command to an aircraft control surface for the failure case of one of control surface, and the aircraft control surface configured to adjust an aircraft control surface setting in response to the pitch rate command and/or pitch angle command to protect an aircraft from being in stall condition.

Abstract: An automated vehicle comprising: a control unit configured to control movement of the automated vehicle to a location adjacent an estimated location of a drill hole; a scanning portion including one or more scanning devices configured to scan an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole, and to generate a point cloud representing at least a portion of the interior of the drill hole; at least one arm associated with the scanning portion, the at least one arm configured to move the scanning portion between a home position and one or more scanning positions; and an end effector associated with the at least one arm, the end effector being configured to perform one or more operations; wherein, upon generating the point cloud, the at least one arm is configured, based on the point cloud, to position the end effector in substantial alignment with the drill hole so that the end effector can perform the one or more operati

Abstract: Disclosed are a method for determining a working start point in a movement limit frame of a robot (P) and a method for controlling movement of a robot. The method for determining the working start point includes: setting a limit frame on a map constructed by the robot (P); and selecting, according to an overlap relation between a map area framed by the limit frame and the map constructed by the robot (P), an overlap area for developing a working start point of the robot (P), and determining a center point (O1, O2, O3, O4, O5, O6, O7, O8) of the overlap area which is selected as the working start point in the limit frame of the robot (P); and the limit frame encloses an area for limiting a working range of the robot (P).

Abstract: An information processing system according to an embodiment of the present disclosure includes a first information processing device to be provided to a movable body and a second information processing device to be provided to a portion that differs from the movable body. The first information processing device includes a sensor portion, a generation portion, a control portion, and an integration portion. The sensor portion senses a first external environment. The generation portion uses sensor data acquired from the sensor portion to generate a first map. The control portion controls motion of a manipulator on the basis of the first map. The integration portion uses position information of inside the first external environment, with which portion the manipulator is in contact, integrates the first map and a second map acquired from the second information processing device with each other, and generates an integration map.

Abstract: A robot includes: a plurality of wheels; a plurality of motors; at least one sensor; a memory configured to store first information on a size of the robot; and a processor. The processor is configured to: acquire image data of an escalator from the at least one sensor, acquire second information on a size of a plurality of steps included in the escalator based on the image data, based on the first information and the second information, identify both a boarding position available for the robot to board the escalator among the plurality of steps, and a posture of the robot configured to allow the robot to board at the boarding position, acquire control information for controlling the robot to board at the boarding position in the posture when the boarding position and the posture have been identified, and control the plurality of motors based on the control information.

Abstract: A method for automatically controlling a vehicle based on a driving specification received from an external infrastructure. In a normal mode the vehicle is controlled along a trajectory specified thereby and in a test mode the vehicle is controlled along a test trajectory that deviates from the trajectory specified by the driving specification, and/or is controlled using test parameters. This allows the reliable operation of the infrastructure to be verified.

Abstract: A system and method for a motorized mobile chair use a plurality of sensors having a plurality of sensor types to detect a plurality of objects and generate sensor data about the detected objects, each of the detected objects being a person, the sensor data about the objects comprising a plurality of range measurements to the people and a plurality of bearing measurements to the people. The system has at least one processor to receive the sensor data about the people, group the detected people into a plurality of zones, determine a closest person in each zone, and generate one or more control signals to cause the motorized mobile chair to match a speed and a direction of the closest person in the zone corresponding to a direction of travel of the motorized mobile chair while at least approximately maintaining a selected space to the closest person in the zone corresponding to the direction of travel of the motorized mobile chair.

Abstract: An automatic working system, a turning method thereof, and a self-moving device. When the self-moving device reaches a boundary, a control module controls a movement module to turn to leave the boundary. In addition, the control module may control, based on coverage values corresponding to each movement range when the self-moving device reaches the boundary, the movement module to turn to a movement range with a coverage value that meets a preset requirement.

Abstract: A management system of a work site includes: a workplace data acquisition unit that acquires workplace data set in a workplace where an unmanned haul vehicle travels; and a sprinkling area setting unit that sets, on the basis of the workplace data, a sprinkling area on which the unmanned sprinkler vehicle sprinkles water in the workplace.

Abstract: A control device includes a communication unit, a restriction condition calculation unit, and a control unit. The communication unit receives, from a second robot, a current position of the second robot, and restriction-related information used for controlling the second robot based on positions of a first robot and the second robot at past times. The restriction condition calculation unit calculates restriction condition candidates indicating conditions of a range in which movement is possible, based on the current position and the restriction-related information received from the second robot. The restriction condition calculation unit also identifies a restriction condition having the most recent time among the calculated restriction condition candidates. The control unit controls the position of the first robot so as to move in a manner satisfying the restriction condition identified by the restriction condition calculation unit.

Abstract: An aerial vehicle according to an embodiment of the present technology includes a recording unit, a detection unit, and a reproduction unit. The recording unit records a flight parameter during flight in a state in which no sensor abnormality is detected. The detection unit detects the sensor abnormality. The reproduction unit reproduces the flight parameter on the basis of the sensor abnormality detected by the detection unit.

Abstract: A method of backtracking for a solar tracker installation utilizing a backtracking algorithm to calculate angles of inclination values for the tables of each of the solar tracker assemblies in the solar tracker installation during a backtracking period including morning backtracking period and evening backtracking period periods wherein the calculated table angles of inclination values mitigate undesirable shading of photovoltaic modules of a solar tracker assembly by adjacent row solar tracker assemblies during morning and evening backtracking periods that would otherwise occur with a normal solar tracking mode. Ends of the torque tube beam of each solar tracker assembly are imaged to provide three dimensional coordinates associated with the torque tube beam ends.

Abstract: The present disclosure provides a system and related methods for automatically supplying one or more reservoirs with fluid while the fluid level within those reservoirs is below a threshold level, and while there is still enough fluid in the supply to refill them. The reservoirs, which may be coupled to fog or haze machines, are thus maintained at appropriate levels for as long as the fluid supply lasts, without the requirement for manual labour and active monitoring. The system comprises a pump and sensor module which monitors liquid levels both in the supply tank and in the one or more reservoirs, controlling the pump appropriately to keep the reservoirs full but prevent overfilling.

Abstract: An appliance hub for use in an upper portion of an enclosure can include a substrate configured to be positioned in an upper portion of an enclosure. The appliance hub can include a climate control apparatus mounted on the substrate and the climate control apparatus can be configured to regulate a temperature within the enclosure. The appliance hub can include one or more lighting elements configured to provide light within the enclosure, a plurality of fluid lines connected to the substrate and configured to provide fluid service and return to the climate control apparatus, and/or a plurality of electrical connections connected to the substrate and configured to provide electrical power and/or data to at least one of the climate control apparatus and the one or more lighting elements.

Abstract: Methods and devices for a cascode current mirror with low headroom voltage are presented. According to one aspect, a gate voltage to a cascode transistor of an input leg of the current mirror is provided by a feedback block that operates from a mirrored current output by an output leg of the current mirror. The feedback block includes a feedback current mirror that outputs a mirrored current for conduction through a self-biasing diode-connected transistor that generates the gate voltage to the cascode transistor of the input leg. According to yet another aspect, the cascode current mirror includes a start-up circuit coupled between an input to the input leg and a gate of the cascode transistor of the input leg, the start-up circuit generating a start-up voltage during a transition mode of operation of the cascode current mirror. According to one aspect, a transistor is used as the start-up circuit.

Abstract: An electronic device is provided. The electronic device includes a power generator, a power regulator and an electronic element. The power generator is configured to provide an input voltage. The power regulator includes a voltage regulator. The voltage regulator is electrically connected to the power generator. The voltage regulator is configured to receive the input voltage to generate an output voltage. The electronic element is electrically connected to the power regulator. The electronic element is configured to receive the output voltage. The power regulator generates a control signal according to the input voltage. The power regulator provides the control signal to the electronic element. An adjustable level of the electronic element is adjusted according to the control signal.

Abstract: A feedback control circuit is described herein, comprising: an operational amplifier (op-amp) integrated circuit, wherein a first output of the op-amp provides a feedback error control signal; at least two transistors provided in a feedback path between the first output of the op-amp and an inverting input to the op-amp; and a plurality of discrete electrical components in the feedback path, such that in response to either an increase or decrease of an inverting input voltage at the inverting input that exceeds a predetermined level, at least one of the at least two transistors is turned on, and the feedback control circuit provides the feedback error control signal with an increased slew rate.

Abstract: A method for regulating a voltage reference signal includes providing a first output current during a first interval and a boosted output current during a second interval to generate a low-dropout voltage reference signal based on a first power supply voltage, a second power supply voltage, and a reference voltage level. The method includes, during the second interval, compensating for a voltage drop caused by providing the boosted output current. The first output current may be provided in a first mode of operation. The boosted output current and voltage drop compensation may be provided in a boosted mode of operation.

Abstract: A control circuit includes one or more processors and a computer readable medium storing instructions that, when executed by the one or more processors, cause the control circuit to perform functions. The functions include providing a load current that flows into a digital load and determining a magnitude of a difference between a load voltage across the digital load and a reference voltage. The functions also includes determining a digital state of the digital load and adjusting the load current based on (i) the magnitude of the difference between the load voltage and the reference voltage and (ii) the digital state of the digital load.

Abstract: An electronic circuit includes a reference voltage circuit and a circuit for checking the starting operation of the reference voltage circuit. The reference voltage circuit includes a first stack of a first transistor and second transistor receiving first and second control signals, respectively. The start check circuit includes a first elementary test circuit including a second stack of a third transistor and fourth transistor receiving the first and second control signals, respectively. An output of the first elementary test circuit delivers a first binary signal indicative of proper starting operation of the reference voltage circuit.

Abstract: A voltage supervisor includes a first transistor coupled between a first supply voltage and a second supply voltage. The voltage supervisor includes a second transistor coupled between the first supply voltage and the second supply voltage. The voltage supervisor is configured to provide a first current proportional to a difference in gate-to-source voltages of the first transistor and the second transistor. The voltage supervisor is also configured to provide a second current proportional to a difference in the first supply voltage and the difference in gate-to-source voltages of the first transistor and the second transistor. The voltage supervisor is configured to compare the first current to the second current to determine a voltage value that changes a state responsive to the first supply voltage crossing a threshold.

Abstract: A lever latching system comprising: a housing; a lever having a latch pin fixedly mounted to the lever, the lever being movably mounted to the housing so that the latch pin moves in an arc; and a latch plate movably mounted to the housing for linear movement with respect to the housing, the latch plate comprising a labyrinth for receiving the latch pin.

Abstract: A pedal simulator includes a pedal housing, a pedal unit rotatably mounted to the pedal housing, and a simulator unit mounted in the pedal housing and configured to compress a plurality of rods connected to the pedal unit by pressing the pedal unit.

Abstract: The present disclosure discloses a memory access interface device. A clock generation circuit generates reference signals. A transmitter transmits an output command and address signal to a memory device according to the reference signals. A signal training circuit executes a training process in a training mode that includes steps outlined below. A training signal is generated such that the training signal is transmitted as the output command and address signal. The training signal and the data signal generated by the memory device are compared to generate a comparison result indicating whether the data signal matches the training signal. The comparison result is stored. The clock generation circuit is controlled to modify a phase of at least one of the reference signals to be one of a plurality of under-test phases to execute a new loop of the training process until all the under-test phases are trained.