451results about How to "High precision estimation" patented technology

An automatic system for temporal alignment between a music audio signal and lyrics is provided. The automatic system can prevent accuracy for temporal alignment from being lowered due to the influence of non-vocal sections. Alignment means of the system is provided with a phone model for singing voice that estimates phonemes corresponding to temporal-alignment features or features available for temporal alignment. The alignment means receives temporal-alignment features outputted from temporal-alignment feature extraction means, information on the vocal and non-vocal sections outputted from vocal section estimation means, and a phoneme network, and performs an alignment operation on condition that no phoneme exists at least in non-vocal sections.

A robot control apparatus includes: a drive unit (101) driving an actuator (115) based on a torque command value; a drive torque estimation unit (107) estimating a drive torque from a joint shaft angle; an external torque calculation unit (108) calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit (105) calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit (109) calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit (110) calculating a correction amount from the external force.

A robot executes motion by modifying a motion behavior on the basis of a motion direction of a user on board according to a state of mind of the user on board. This produces the motion of the vehicle under conditions that reflect the user's state of mind. The robot preferably includes a direction input portion that receives the motion direction from the user and generates a reference input corresponding to the motion direction, and an inverted control reference input generator that generates a motion reference input that makes the robot execute motion in a behavior different from the motion behavior on the basis of the motion direction, based at least on a reduction coefficient with a value corresponding to the user's state of mind and the reference input generated in the direction input portion. The reduction coefficient is determined by measuring the pulse rate of the user on board.

A sound analysis apparatus employs tone models which are associated with various fundamental frequencies and each of which simulates a harmonic structure of a performance sound generated by a musical instrument, then defines a weighted mixture of the tone models to simulate frequency components of the performance sound, further sequentially updates and optimizes weight values of the respective tone models so that a frequency distribution of the weighted mixture of the tone models corresponds to a distribution of the frequency components of the performance sound, and estimates the fundamental frequency of the performance sound based on the optimized weight values.

A drum washing machine including a cylindrical drum, a DC brushless motor directly connected to the drum, a current detector detecting current flowing through the motor, a torque control vector-controlling the motor on the basis of the current detected by the current detector so that motor torque becomes optimum at least in a wash or dehydration operation, and a laundry weight estimator accelerating the motor with a maximum output torque developed when determining that motor speed is between a first speed at which laundry is assumed to start falling from an uppermost part of inner periphery of the drum when motor speed is reduced from a high speed side and a second speed at which laundry is assumed to start sticking to an uppermost part of the inner periphery of the drum, estimating laundry weight according to a q-axis current value in the vector control during an accelerating period.

Apparatus and a method utilizing correlation interferometer direction finding for determining the azimuth and elevation to an aircraft at long range and flying at low altitudes above water with a transmitting radar while resolving multipath signals. The signals from the radar are received both directly and reflected from the surface of the water using horizontally polarized and vertically polarized antenna arrays, are digitized and are stored in separate covariant matrices. Eigenvalues for the eigenvectors of the matrices processed on signal samples recorded on horizontally polarized X arrays are compared to the eigenvalues for the eigenvectors of the covariance matrices processed on signal samples recorded on vertically polarized X arrays. Incident field polarization is associated with the antenna array measurements that yield the strongest eigenvalue. The eigenvector and eigenvalues for the strongest signal are selected and used for subsequent signal processing. An initial global search assuming mirror sea-state reflection conditions using the signal eigenvector having the strongest eigenvalue is performed to yield an approximate elevation α and azimuth β to the aircraft. The approximate values are then used as the starting point for a subsequent conjugate gradient search to determine accurate elevation α and azimuth β to the aircraft.

An object of the present invention is to provide an object detection apparatus capable of detecting an object at high precision in accordance with the type of the object. The object detection apparatus of the present invention comprises: object position detection means 2, 22, 3, 23 for detecting the positions of objects; object type estimating means 24 for estimating the types of the objects; and object estimating means 24 for integrating a plurality of detection results for positions within a search area obtained by the object position detection means 2, 22, 3, 23 and thereby estimating the sizes of the objects, the object detection apparatus of the present invention being characterized in that the search area is set based on the types of the objects estimated by the object type estimating means 24. Moreover, the object detection apparatus of the present invention is characterized in that the object position detection means 2, 22, 3, 23 detects the positions of the objects by using a plurality of position detection criteria, that the object type estimating means 24 estimates the types of the objects based on the position detection criteria, according to which the object position detection means 2, 22, 3, 23 have been able to detect the positions of the objects, and that the search area is set based on the position detection criteria, according to which the positions of the objects have been detected.

Improving the accuracy of estimation of channel responses in receiving signals from a plurality of antennas is disclosed. A transmitting device of a base station includes a preamble A generating unit 010, a preamble B generating unit 011, phase rotating units 012 and 013, multiplexing units 014 and 015, an forward error correction coding unit 016, an S / P converting unit 017, a mapping unit 018, a changeover switch 019, IDFT (or IFFT) units 020 and 026, P / S converting units 021 and 027, GI (Guard Interval) inserting units 022 and 028, D / A converting units 023 and 029, radio transmitting units 024 and 030 and antenna units 025 and 031. In the preamble A generating unit 010 and the preamble B generating unit 011, a preamble A and a preamble B (see the packet format in FIG. 1) are generated, respectively. The preamble A is outputted to the multiplexing units 014 and 015, while the preamble B is outputted to the phase rotating units 012 and 013. The phase rotating units 012 and 013 to which the preamble B has been inputted give continuous phase rotation to subcarriers of the preamble B. In the transmitting device of the base station according to this embodiment, the phase rotating unit 012 does not give phase rotation, but only the phase rotating unit 013 gives phase rotation to the preamble B.

In a method for determining the drawbar length of a trailer of a tractor vehicle with a front-axle steering system for adjusting a front-axle steering angle and optionally additionally a rear-axle steering system for setting a rear-axle steering angle, an estimated value for the drawbar length is determined with an estimation method from an articulation angle, as detected by a sensor, between the trailer and the tractor vehicle on the basis of the front-axle steering angle and optionally the rear-axle steering angle, and the movement variables speed and yaw rate of the tractor vehicle.

A biological information processing apparatus includes the following elements. A light source irradiates biological tissue with light. A transducer functions as an ultrasonic wave transmitting unit that applies an ultrasonic wave to a local region in the biological tissue. A photodetector detects modulated light obtained by modulating the light from the light source with the ultrasonic wave in the local region. The transducer also functions as an acoustic wave detecting unit that detects an acoustic wave emitted from the local region at a time when the local region absorbs the light from the light source. An absorption characteristic in the local region is calculated using an acoustic signal, serving as an output of the acoustic wave detecting unit, on the basis of a light intensity in the local region calculated based on a modulation signal, serving as an output of the photodetector.

A method of detecting a state-of-charge of a battery detects a current of a battery and a voltage of the battery, calculating a state-of-charge of the battery as a first state-of-charge based on an integration of the current of the battery thus detected, while calculating the state-of-charge of the battery as a second state-of-charge based on the voltage of the battery and calculating a synthetic state-of-charge obtained by taking a weighted mean of the first state-of-charge and the second state-of-charge as the state-of-charge of the battery, and weighting the weighted mean in order to increase weighting of the second state-of-charge in a region in which a capacity of the battery is increased and a region in which the capacity of the battery is reduced and to increase weighting of the first state-of-charge in other regions.

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

In a pulse wave analyzer, an ECG signal and a pulse wave signal are detected from an object to be analyzed. A plurality of feature points are extracting from the acquired ECG signal, the feature points appearing in a waveform of the ECG signal. The acquired pulse wave signal is segmented into a plurality of pulse wave signal pieces based on times at which the feature points appear. Each of the pulse wave signal pieces is segmented every heart beat. A reference pulse wave is calculated based on the plurality of pulse wave signal pieces, by multiplying the pulse wave signal pieces by coefficients and averaging the pulse wave signal pieces multiplied by the coefficients. The reference pulse wave is used to estimate the blood pressure of the object.

The present invention relates to a nose count apparatus and an elevator. Because the prior nose count counts noses according to the load bearing weight variation number and direction, it can not count if the weight variation is not linear stepped. In addition, the prior nose count has no mention to the precision of the present people. A measurement unit (11) measures the data used in the nose count. A passage presumption unit (12) presumes the number of passages. A passage existence presumption unit (13) presumes the passage existence in the enclosed space according to the measured data. A present passage presumption unit (14) resets the present passage to 0, when the existence presumption result is no; and presumes the present passage in the enclosed space according to a formula, {(the number of present passages before opening the door)+(the presumption result of passages taking on the elevator)-(the presumption result of passages taking off the elevator)}, when nonexistence existence presumption result is yes.

A blood-pressure estimating apparatus, including a pulse-wave detecting device which detects a pulse wave from a portion of a living subject, a blood-pressure measuring device which includes an inflatable cuff adapted to be worn on the portion of the subject and measures, with the cuff, a diastolic blood pressure and a systolic blood pressure of the portion of the subject, and a mean-blood-pressure estimating device which converts, based on a minimum magnitude and a maximum magnitude of the pulse wave detected by the pulse-wave detecting device and the diastolic and systolic blood pressure measured by the blood-pressure measuring device, a magnitude of a gravity center of an area defined by the pulse wave into an estimated mean blood pressure of the portion of the subject.

A carrier phase GPS positioning device is disclosed, which acquires a carrier phase accumulation value of satellite signals at one time on the mobile station side, associates plural carrier phase accumulation values on the reference station side at plural times prior to the one time with the carrier phase accumulation value on the mobile station side, and estimates an integer ambiguity included in the carrier phase accumulation value of signals transmitted from the satellite received by the mobile station.

The present invention relates to a demodulation device and a demodulation method, and its object is to demodulate subcarrier components utilizing estimated delay profiles to control the timing for performing a Fourier transform and the pass band of an interpolation filter used in interpolating transmission channel characteristics along a frequency axis so as to suppress unnecessary noise components, whereby an error rate after the demodulation is reduced. To achieve the object, in a demodulation device according to the present invention, a Fourier transform unit 1 performs a Fourier transform according to a timing signal and an interpolation filter unit 18 sets a pass band of a frequency interpolation filter used for interpolation along the frequency axis based on a signal corresponding to a maximum delay time, whereby the frequency band of a transmission channel characteristic corresponding to a subcarrier component is restricted when it is output.

A vision system comprises a camera that captures an image and a processor coupled to process the received image to determine at least one feature descriptor for the image. The processor includes an interface to access annotated map data that includes geo-referenced feature descriptors. The processor is configured to perform a matching procedure between the at least one feature descriptor determined for the at least one image and the retrieved geo-referenced feature descriptors.

In a control unit of an electric power steering apparatus for driving a motor with a current command value and giving an assist torque to a steering mechanism by driving the motor, the control unit is provided with a motor angle sensor; a torque sensor; a relative steering angle detecting section for detecting a relative steering angle; a steering angular speed detecting section for detecting an angular speed of the motor; a vehicle speed determining section; a neutral point calculating section for determining that a vehicle is being driven straightly, and calculating by considering that the relative steering angle when the straight driving continues for not less than a predetermined time is a neutral point; and an absolute steering angle calculating section for calculating an absolute steering angle with a difference between the neutral point and the relative steering angle.

A control apparatus (30) estimates a status of charge (SOC) by a first estimation method by temporarily changing the SOC of a battery (B) so that the SOC of the battery (B) falls within a first region in the case a period, during which the estimated value of the status of charge of the battery (B) falls within a second region, exceeds a prescribed period.

A drum washing machine includes a drum (7) accommodating laundry and having a substantially horizontal axis of rotation, an electric motor (14) rotating the drum (7), current detecting means (47) for detecting an electric current flowing through the motor (14), torque control means (53) for vector-controlling the motor (14) on the basis of the current detected by the current detecting means (47) so that torque developed by the motor (14) becomes optimum at least in each of a wash operation and a dehydration operation, and laundry weight estimating means (54, 61) or accelerating the motor (14) with a maximum output torque developed when determining that a rotational speed of the motor (14) is between a first rotational speed at which the laundry is assumed to start falling from an uppermost part of an inner periphery of the drum (7) when the rotational speed of the motor (14) is reduced from a high speed side and a second rotational speed at which the laundry in the drum is assumed to start sticking to an uppermost part of the inner periphery of the drum (7), thereby estimating a laundry weight according to a q-axis current value in the vector control during an accelerating period.

A turning direction calculating unit determines a turning direction of a vehicle based on a change in azimuth of the vehicle. An angular velocity calculating unit calculates an angular velocity of the vehicle. A turning radius calculating unit calculates a turning radius of the vehicle by using the angular velocity and a travel distance of each predetermined time period. A turning radius correcting unit corrects the turning radius so that the turning radius becomes larger by a correction value WL according to a traveling position on a road if the vehicle turns to the left, and corrects the turning radius so that the turning radius becomes smaller by a correction value WR according to a traveling position on a road if the vehicle turns to the right. A vehicle position estimating unit estimates a vehicle position on a center line of the road by using the corrected turning radius.

The present invention provides an apparatus that can estimate the charge / discharge electricity amount without being affected by current measurement error. If specific selection conditions are met, a no-load voltage calculation part (105) takes a plurality of pairs of data consisting of current data I(n) and voltage data V(n) corresponding to the current data and calculates a no-load voltage Vsep as the voltage intercept at a current of zero in a straight-line approximation obtained by statistical processing such as regression analysis using a least squares method with respect to the plurality of pairs of data. In addition, if specific current conditions continue to be met for a certain amount of time, an open circuit voltage calculation part (106) calculates the terminal voltage of the secondary battery as the open circuit voltage Voc. An estimated charge / discharge electricity amount calculation part (114) uses a preset change-in-voltage adjustment constant ΔVbc / adjustment coefficient Kb, change-in-electromotive-force constant Keq and polarization voltage generation constant Kpol to calculate the estimated charge / discharge electricity amount ΔQe as a function of the change ΔVb in the no-load voltage or the open circuit voltage over a predetermined period of time.

The simulation equipment has division unit for dividing a layout of a photo mask (mask layout) into a plurality of areas, average light intensity value calculation unit for calculating an average value of light intensity in each of the areas, smoothing unit for subjecting the calculated average value to smoothing processing, and multiplication unit for multiplying the smoothed average value by a predetermined multiplier.

A Kalman filter in a roll angle estimation device estimates a roll angle of a vehicle body, a vehicle speed, a roll angular velocity sensor offset, a yaw angular velocity sensor offset, and a vertical acceleration sensor offset on the basis of detected values of a roll angular velocity sensor, a yaw angular velocity sensor, a vertical acceleration sensor, a longitudinal acceleration sensor, a lateral acceleration sensor, and a rear-wheel speed sensor, and also on the basis of estimated values of the roll angle, the vehicle speed, the roll angular velocity sensor offset, the yaw angular velocity sensor offset, and the vertical acceleration sensor offset obtained in a previous estimation operation.

A location estimation system includes: a position measurement unit that receives position measurement signals from a plurality of sources of emission, and calculates position information of a first mobile object; a distance measurement unit that measures a distance from the first mobile object and to a second mobile object; a relationship determination unit that determines presence or absence of a relationship between the first mobile object and the second mobile object based upon relative position of the second mobile object based upon the distance, and selects position measurement signals from sources of emission that are different from the sources of emission of the position measurement signals received by the first mobile object; a position correction unit that corrects a position of the first mobile object based upon the position measurement signals received by the first mobile object and the position measurement signals selected by the relationship determination means.

A combustion state estimating apparatus for estimating the state of combustion in an internal combustion engine includes an angular acceleration calculator that calculates a crank angle acceleration, and a combustion state estimator that estimates the state of combustion in the internal combustion engine based on the crank angle acceleration in a crank angle interval in which an average value of inertia torque caused by a reciprocating inertia mass of the internal combustion engine is substantially zero. Thus, the combustion state estimating apparatus excludes the effect that the inertia torque caused by the reciprocating inertia mass has on the angular acceleration, and therefore is able to precisely estimate the state of combustion based on the angular acceleration.

When a given learning performance condition is met, a partial lift injection for opening a fuel injector is performed by an injection pulse which brings about a partial lift state in which a lift quantity of a valve body of the fuel injector does not reach a full lift position, and an integrated value of a drive current is calculated which flows through a drive coil of the fuel injector after an injection pulse of the partial lift injection is turned off. An inductance of the drive coil is calculated in consideration of a direct current superposition characteristic of the drive coil on the basis of the integrated value of the drive current, whereby the inductance of the drive coil is calculated with high accuracy. Then, the lift quantity of the valve body is estimated on the basis of the inductance, whereby the lift quantity of the valve body is estimated with high accuracy. The injection pulse of the partial lift injection is corrected on the basis of the lift quantity, whereby the injection pulse of the partial lift injection is corrected with high accuracy.