A capacitive load charging/discharging device, including a first capacitor, a down-up converter including a first and a second switching element connected across the first capacitor, wherein a connecting point of the switching elements is connected to a first output terminal of the converter through a main coil. The device further includes an output circuit with a capacitive load arranged between first and second output circuit terminals, which are connected to output terminals of the converter. A discharge circuit is formed with the output circuit, the main coil and the second switching element, including an additional capacitor which is connected to a charging circuit for charging to a specified voltage, wherein the polarity of the voltage corresponds to that of the load voltage in the charged state of the capacitive load.

The use of piezo injection valves has the advantage with combustion engines that the fuel for each combustion cycle can be distributed over a plurality of precise portions, and that an improved mixing of fuel and oxygen can thus be achieved. The combustion process can in this way be designed for lower pollution and more efficiency.
In directly driven piezo injection valves in particular, the fuel throughput is adjusted in that a piezo drive (stack) coupled with the jet needle is subjected to defined charge/energy. The energy applied creates a proportional force at the drive which generates a deflection at a mechanically or hydraulically coupled jet needle, and so permits a regulation of the fuel throughput.
This places high demands on the charging/discharging electronics, which is usually implemented in the form of a DC-DC converter. The electronics must apply defined charge/energy to the capacitively operating drive of the piezo injector in a short time with high precision, robustness and efficiency, and with good repeatability, and must discharge it again in a defined manner at the end of the injection process. A large number of injections following closely on one another can thus be generated in each combustion cycle in order to create the most homogeneous possible fuel-air mixture.
The converter must feed a defined charge to the piezo injector in a short time under current control, and charge the load from 0 V to up to 250 V. At the end of the injection process, the load must also again be discharged from up to 250 V down to 0 V. For reasons of power loss, cost and efficiency, it is desirable to recover the highest possible proportion of the charge transferred back from the injector into the converter.
Two-quadrant switched-mode power supply units are usually used for this in order to transfer charge from the internal store of the converter into the load and back again into the converter under bidirectional operation.
EP 0 871 230 B1 discloses a device and a method for charging and discharging a piezoelectric element, as is illustrated in FIG. 1.
That document relates to a simple down-up converter BUCK/BOOST with a first upstream DC-DC converter DCDC1, a discharge path LINEAR DISCHARGE, and a selection circuit SELECTION, along with the capacitive load CPIEZO which represents the piezo element of an injection valve.
The down-up converter BUCK/BOOST is constructed as a half-bridge with a first transistor M1 to which a second transistor M2 is connected in series, while diodes D1, D2, for example in the form of substrate diodes, are connected in parallel with the transistors M1, M2, respectively. The connecting point of the two transistors M1, M2 is connected through a main coil LMAIN and an LC low-pass filter to the supply terminal of the capacitive load CPIEZO. The LC low-pass filter is formed with a filter capacitor CFILT and a filter coil LEMC, and is connected through a first shunt resistor RSH1, used for current measurement, to the ground terminal GND of the circuit.
The first DC-DC converter DCDC1 is formed in the illustrated embodiment as a fly back converter, but may however also be realized by other converter types. It includes a transformer, whose primary winding PW is connected on one side through an EMC (Electro Magnetic Compatibility) filter to the positive terminal of a battery voltage VBAT, and on the other side through a transistor M0, with which a diode is connected in parallel, to the ground terminal of the battery voltage GND. The one terminal of the secondary winding SW is connected through a diode DDCDC to the terminal that carries a positive voltage of an intermediate circuit capacitor CDCDC, and the other terminal of the secondary winding SW is connected to the ground terminal GND, to which the other terminal of the intermediate circuit capacitor CDCDC is also connected.
The supply terminal of the capacitive load CPIEZO is connected through a discharge transistor M7, a diode connected in parallel and a current measuring resistor RSP, which is connected in series with the discharge transistor M7 to the ground terminal GND.
The other terminal of the capacitive load CPIEZO is connected through a selection transistor M3 with a diode connected in parallel and a second shunt resistor RSH2, which is connected in series with the selection transistor M3 and serves to measure current, to the ground terminal GND of the circuit. The series circuit of the capacitive load CPIEZO with the selection transistor M3 and with the second shunt resistor RSH2 may have further such series circuits connected in parallel with it, which is regularly the case in the application for injection valves for combustion engines.
The first DC-DC converter DCDC1 creates a buffered intermediate circuit voltage VDC at the intermediate circuit capacitor CDCDC. While the piezo element CPIEZO is being charged, the down-up converter BUCK/BOOST operates, considered simply, as a step-down converter (buck mode), and as a step-up converter (boost mode) during discharge. During charging, a current is created in the main coil LMAIN by pulse-width-modulated switching-on of the first transistor M1. While the first transistor M1 is switched on, the diode D2 is at first in blocking mode, and the current in the main coil LMAIN rises in accordance with equation (1):
                              i          L                =                              1            L                                          ∫                          u              ·              dt                                                          (        1        )
The differential current in the main coil LMAIN during the phase when the first transistor M1 is switched on can be approximately described by equation (2):
                              di          dt                =                              VDC            -            VPIEZO                                L            MAIN                                              (        2        )
During the time when the first transistor M1 is switched off, the diode D2 acts as a freewheeling path for the coil current, and the energy stored in the main coil LMAIN is removed by the flow of current into the capacitive load CPIEZO. The differential current through the main coil LMAIN in this phase can be approximately described by equation (3):
                              di          dt                =                              VDC            -            VPIEZO                                L            MAIN                                              (        3        )
In accordance with equation (2), the fall in the current depends on the potential difference between the voltage VDC at the intermediate circuit capacitor CDCDC and the voltage VPIEZO at the capacitive load CPIEZO, which becomes smaller and smaller as the load voltage VPIEZO rises. The smaller the potential difference, the longer the time for the set current in the main coil LMAIN to develop. If VPIEZO gets closer to VDC, the charging current through the main coil LMAIN is limited by the nature of the system, and is pinched off. Only load voltages VPIEZO that are lower than the intermediate circuit voltage VDC can thus be reached.
When discharging the load, the down-up converter BUCK/BOOST operates, considered simply, as a step-up converter. The load functions as a voltage source for the converter, which is operated with pulse-width modulation, as when charging. While the second transistor M2 is switched on, a current is developed in the main coil LMAIN in accordance with equation (4). In this case, the diode D1 of the first transistor M1 is blocking.
                              di          dt                =                  VPIEZO                      L            MAIN                                              (        4        )
During the phase in which the second transistor M2 is switched off, feeding back (recovery) of the energy stored in the main coil LMAIN into the intermediate circuit capacitor CDCDC takes place. In this case, the current flows out of the capacitive load CPIEZO through the diode D1 back into the CDCDC Equation (5) applies here. Diode D2 is blocking here.
                              di          dt                =                              VPIEZO            -            VDC                                L            MAIN                                              (        5        )
An extended down-up converter BUCK/BOOST is described in DE 10 2012 204 576 A1 and illustrated in FIG. 2. The same components are given the same reference signs there as in FIG. 1.
In contrast to the down-up converter BUCK/BOOST of FIG. 1, the down-up converter BUCK/BOOST of DE 10 2012 204 576 A1 is formed with a full bridge which, in addition to the transistors M1, M2 of the first half-bridge, includes a second half-bridge with transistors M21 and M22 connected in series, wherein (substrate) diodes D21 and D22 are again connected in parallel with these transistors M21 and M22, respectively. The main coil LMAIN is connected between the connecting points of the respective transistors M1 and M2, M21 and M22, respectively, of the two half-bridges. The second half-bridge is connected in parallel with the filter capacitor CFILT, so that the first shunt resistor RSH1 can also be used as the current measuring resistor for the current when charging the main coil LMAIN.
Here again, a first DC-DC converter DCDC1 generates a buffered intermediate circuit VDC at an intermediate circuit capacitor CDCDC. The down-up converter BUCK/BOOST with two half-bridges operates during the charging and discharging, considered simply, as a flyback converter. During charging, a current is created in the main coil LMAIN by simultaneous pulse-width-modulated switching-on of the transistors M1 and M22. While the transistors M1 and M22 are switched on, the diodes D2 and D21 are at first in blocking mode, and the current in the main coil LMAIN rises in accordance with equation (6):
                              i          L                =                              1            L                                          ∫                          u              ·              dt                                                          (        6        )
The differential current in the main coil LMAIN during the phase when the transistors M1 and M2 are switched on can be described by equation (7):
                              di          dt                =                  VDC                      L            MAIN                                              (        7        )
During the time when the transistors M1 and M22 are switched off, the diodes D2 and D21 act as a freewheeling path for the coil current, and the energy stored in the main coil LMAIN is removed by the flow of current into the capacitive load CPIEZO. The differential current in the main coil LMAIN can be described here by equation (8):
                              di          dt                =                              -            VPIEZO                                L            MAIN                                              (        8        )
In accordance with equation (7), the development of current in the main coil LMAIN depends on the voltage VDC at the intermediate circuit capacitor CDCDC, but is independent of the load voltage VPIEZO. This has the consequence that, regardless of the level of the output voltage, energy may always be stored in the main coil LMAIN, which is then transferred during the freewheeling phase to the capacitive load CPIEZO. This permits the generation of output voltages VPIEZO that are higher than the intermediate circuit voltage VDC. The load voltage VPIEZO may thus become as high as desired, limited only by the dielectric strength of the components in use.
When discharging the capacitive load, the converter operates, similarly to when charging, as a flyback converter. The load functions as a voltage source for the converter, which is also operated with pulse-width modulation. While the transistors M2 and M21 are switched on, a current is developed in the main coil LMAIN in accordance with equation (9).
                              di          dt                =                  VPIEZO                      L            MAIN                                              (        9        )
During the phase in which the transistors M2 and M21 are switched off, feeding back (recovery) of the energy stored in the main coil LMAIN into the intermediate circuit capacitor CDCDC takes place. In this case, the main coil LMAIN drives a current through the diodes D1 and D22 back into the intermediate circuit capacitor CDCDC. Equation (10) applies here.
                              di          dt                =                              -            VDC                                L            MAIN                                              (        10        )
Now, with the two solutions described above, as a result of equations (4) and (9), the problem arises when discharging that the development of current in the main coil LMAIN depends on the load voltage VPIEZO, which becomes smaller and smaller as the load CPIEZO becomes increasingly discharged. The smaller the load voltage VPIEZO, the longer the time for the set current in the main coil LMAIN to develop. If the load voltage VPIEZO approaches a critical voltage, the discharge current is limited and pinched off. This has the result that the load cannot be fully discharged, and a remaining residual charge remains in the injector.
Until now, one of the solutions to this problem has been that at the end of the discharge phase, a linear current regulator or resistor LINEAR DISCHARGE is connected in parallel with the load, and the remaining charge converted to heat. The switching element M7 of the current regulator LINEAR DISCHARGE must have an appropriate regulation and protection circuit.
In particular, in the case of injectors with a high energy requirement and a high injection rate, this method increasingly creates problems through heating the electronics, since the remaining residual energy must be dissipated as lost power. The non-recovered charge must be supplied as additional energy by the intermediate circuit converter DCDC1. Additionally, restrictions must be accepted in terms of minimum spacing between sequential injection pulses due to the long delay/settling and activation times of the linear regulation path, and this impairs the performance of the overall system.
The synchronization of the discharge currents at the transition between the clocked and linear operating modes which can, among other things, impair desired sensor effects when closing the injector or make evaluation of the drive through sensors impossible, is also problematic.

Device for charging and discharging a capacitive load


The present invention relates to environmentally safe flux removing compositions specifically formulated for cleaning electronic circuit assemblies, such as printed circuit boards, during the fabrication thereof. Aryl alcohols, such as benzyl alcohol, are used to remove solder flux, oils and other contaminates from various substrates.

The cleanliness of electronic circuit assemblies (ECA'S), such as printed circuit board (PCB's) is critical to their proper function and reliability. Contamination leads, in many cases, to premature failure of the assemblies. Failures in this regard will mainly be due to the formation of shorts.
In the manufacture of electronic circuit assemblies, contamination can accumulate throughout the various steps of the fabrication process. One of the final steps in the fabrication process is the application of soldering flux, followed by various soldering operations. In practice, however, these fluxes have proven difficult to effectively remove.
In the fabrication of electronic circuit assemblies, soldering fluxes are applied to the substrate to ensure firm, uniform bonding of the solder. These soldering fluxes fall into two broad categories: rosin and non-rosin, or water soluble fluxes. The rosin fluxes in general provide superior overall soldering performance as compared to the non-rosin fluxes. Thus, the rosin fluxes are widely used in the industry. Non-rosin or water soluble fluxes are generally inferior in soldering performance and tend to be more corrosive and therefore are not as widely utilized as the rosin fluxes.
One advantage of the non-rosin fluxes is their ability to be effectively cleaned using water based alkaline cleaners which have been known for years. According to U.S. Pat. No. 5,264,046 (Winston, et al), whose teachings are incorporated herein by reference in their entirety, these alkaline cleaners may also be utilized to clean rosin based fluxes, however, the ultimate cleanliness of the assemblies cleaned with Winston's process, is questionable.
Rosin based fluxes have traditionally been cleaned out most effectively with chlorinated hydrocarbon solvents, such as 1,1,1-trichloroethane, CFC 113 and CFC 112 or mixtures or azeotropes of these and other solvents. These solvents are undesirable, however, because they are toxic and when released into the environment, deplete the ozone layer and/or contribute to the greenhouse effect. Thus, these solvents are subject to close scrutiny by the Occupational Safety and Health Administration and the Environmental Protection Agency.
In addition, alkaline cleaning compounds based on alkanolamines and/or caustic (U.S. Pat. No. 4,635,666) have been used in removing rosin fluxes. However, these processes have the distinct disadvantage of being significantly corrosive to solder and other materials of construction in the electronic assemblies. The related teachings of Winston, et al. have further specified the conditions of these processes by proposing particular alkaline solutions, which have been known for some time and which may be effective at flux removal.
In other approaches, Hayes et al., U.S. Pat. Nos. 4,640,719 and 4,740,247, rosin soldering flux and other residues are removed from electronic assemblies by means of terpene compounds in combination with terpene emulsifying surfactants by rinsing in water.
In addition to solder flux removal, the complete removal of adhesives and other residues also poses a problem. During the fabrication process, various tapes and/or adhesives may be utilized on a temporary basis. Once such protection is no longer needed, the adhesive residues must be removed. Removal of these adhesive residues has traditionally been carried out by the use of chlorinated solvents which, as already described, are toxic and environmentally undesirable.
Thus, the present invention addresses a method for effectively removing various residual contaminates, which are likely to be found on electronic circuit assemblies, including, without limitation, rosin flux, photoresist residue, soldermask residue, adhesive residues, oils, greases, silicones, lanolin, mold release, non-rosin fluxes, polyglycols, plasticizers and other problematic residues.

Process for cleaning and defluxing parts, specifically electronic circuit assemblies


The present disclosure provides a method, non-transitory computer-readable storage medium, and computer system that implement a latency monitoring and reporting service configured to collect and report latency of service transactions. In one embodiment, a chronicler object is generated and transmitted to a charging engine, where the chronicler object is configured to collect a set of time points as the chronicler object travels through one or more components of the charging engine. Upon return of the chronicler object, the set of time points is extracted from the chronicler object and added to one of a plurality of accumulator objects. Each accumulator object includes a plurality of sets of time points from a plurality of chronicler objects that are received during a reporting window. The plurality of sets of times points of each accumulator object is used to calculate the latency of service transactions.

Service providers are experiencing ever-growing service usage by subscribers. A service provider typically employs computing systems that implement processing systems in which subscribers are charged for their service usage.
While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments of the present disclosure are provided as examples in the drawings and detailed description. It should be understood that the drawings and detailed description are not intended to limit the present disclosure to the particular form disclosed. Instead, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.

Method and system for low-overhead latency profiling


The invention relates to a photography system and to a method of generating a multi-view picture of a wristwatch.

The invention relates to a photography system, a method for generating a multi-view picture of a wristwatch as well as a corresponding computer product comprising one or more computer readable media having computer executable instructions for performing the method steps.
Generating high-quality pictures and series of high-quality pictures of goods, as wristwatches for example, is essential for commercial success when using trading platforms, internet auctions or the like for selling goods to the buyer.
EP 1 804 055 A1 relates to a device for inspecting labels on containers having a camera for imaging the container surface equipped with labels wherein an optical mechanism is arranged between the camera and the container.
DE 197 09 050 A1 relates to a flat bed scanning system for three dimensional objects wherein the object is placed on a turntable that is driven by a motor and is illuminated by light sources.
DE 10 2009 026 305 A1 relates to a device for visually detecting a mobile object, e.g. a car, in an online shop having a motor for automated drive of a movement assembly and a camera for visually detecting the object, wherein the object is arranged on the movement assembly.
EP 1 574 817 A1 relates to a method and a system for scanning three-dimensional objects and a respective holder for the objects wherein a light beam from a laser is reflected from facets of a mirror which may be rotated by a drive motor and raised and lowered by a further motor.
DE 10 2005 016 233 B4 relates to an image data transmission method for use during production of dental prosthesis parts wherein the method involves producing digital image data in the form of an individual image or image sequences at a certain position.
However, none of these prior art methods and devices is specifically suited for generating a multi-view picture of a wristwatch.


A wound closure system and methods utilizes a patient's own blood. The system preferably includes a chamber with a needle and a plunger for transferring and storing blood prior to surgery and the use of reversible anticoagulants. The chamber is pre-loaded with a reversible anticoagulant to prevent the blood from clotting during storage. When the surgery is complete, a counteracting agent is mixed with the withdrawn blood to counteract the reversible anticoagulant and allow the blood to clot. The clottable blood is then reintroduced into the patient to close a wound.

Patients are often treated systemically with anticoagulants that prevent their blood from clotting. Anticoagulants are typically used during medical procedures that require introducing a medical instrument into a patient's body through an artery. An example of such a procedure is a percutaneous transluminal coronary angioplasty (PTCA), which involves introducing a stent through the arteries. Such procedure leave a puncture wound in the artery where the medical instruments, such as a PTCA catheter, are introduced. The puncture extends through the skin, through the tissue under the skin, and into the artery.
Arterial punctures do not close readily, especially when a patient has been treated with an anticoagulant such as heparin. A conventional solution to sealing arterial punctures is to apply pressure to the wound site for many hours after the medical procedure. Another technique is to introduce a small deflated balloon into the artery, inflate it, and pull it up against the puncture so as to seal the artery off from the puncture. Then a coagulant or other clotting agent may be introduced into the puncture without entering the artery. See, for example, U.S. Pat. Nos. 5,108,421; 5,383,986; 5,626,601; and 6,017,359. Once the puncture has sufficiently sealed, the balloon is deflated and removed. Another method involves introducing a temporary or permanent barrier such as a plug, sponge, or gelation slurry. See, for example, U.S. Pat. Nos. 4,890,612; 4,852,568; 5,437,631; 5,782,860; 6,045,570; 6,071,301; and 6,315,753.
Another method includes injecting a wound site or pseudoaneurysm with a coagulant such as thrombin to accelerate clotting at the treatment site. Yet another solution to treating arterial punctures involves treatment of blood in a patient that has been given an anticoagulant such as heparin. In such a procedure, anticoagulated blood is removed from the patient. The blood is then treated to remove the heparin from the blood and then the blood is reintroduced into the patient, see, for example, U.S. Pat. No. 6,159,232 and PCT Application No. PCT/US00/15068, Such treatments conventionally require the use of complicated devices, bioactive coagulants, extra steps for removal of the anticoagulant, or a long delay before the patient can be released.
What is needed is a simple system that reproducibly, safely, and inexpensively provides a quick and effective seal to the wound site of a patient treated with anticoagulants. The use of products derived from blood not taken from the patient or recombinantly produced molecules should preferably be avoided for reasons of safety, cost, and simplicity.


A hard disk drive includes a housing which has a bottom wall and a cover facing each other. A stator for generating an alernating magnetic field is attached to the bottom wall. First and second bearings are provided on the stator and the cover, respectively, and a rotating shaft is rotatably supported by the bearings. A rotor formed of a magnetic material is fixed to the rotating shaft and has first and second surfaces facing the stator and the cover. A ring-shaped magnet is fixed to the first surface of the rotor to face the stator, and a magnetic disk is mounted on the second surface of the rotor.

1. Field of the Invention
The present invention relates to a compact drive apparatus for driving an information record medium, such as a hard disk drive.
2. Description of the Related Art
Conventionally, a data recording and reproducing apparatus, e.g., a hard disk drive (hereinafter referred to as HDD), is provided with a spindle motor as a drive mechanism for rotating a disk. It is generally known that a drive mechanism of a radial or axial type is used for this purpose.
An example of the axial-type drive mechanism is disclosed in U.S. Pat. No. 4,658,312. This mechanism comprises a rotating shaft, rotatably supported by a bearing tube through a pair of bearings, and a rotor casing fixed to the shaft. The disk is supported by means of the rotor casing. A coil serving as a stator is fixed to the outer circumferential surface of the bearing tube, and a ring-shaped magnet is fixed to the inner circumferential surface of the rotor casing. The coil and magnet extend in the axial direction of the rotating shaft. The magnet is situated outside the coil and faces thereto. The rotating shaft and the rotor casing are rotated by the interaction between the magnetic field generated by magnet and the current flowing the coil. In this case, the magnetic field acts on the coil in a direction perpendicular to the rotating shaft, i.e., in a direction parallel to the surface of the disk.
An radial-type drive mechanism comprises a ring-shaped magnet fixed to a rotating shaft, and a coil arranged to face the magnet. The magnet and the coil extend in a direction perpendicular to the rotating shaft, i.e., in a direction parallel to the surface of the disk. The magnetic field generated from the magnet acts on the coil in the axial direction of the shaft.
The miniaturization of HDDs has recently been accelerated, and disks of small diameters, e.g., 2.5 inches, have been coming into wide use. Accordingly, in order to miniaturize HDDs, it is required to miniaturize not only the disk and but also the disk drive mechanisms.
The HDDs may be miniaturized by two methods. According to one method, the radial length of the disk and the mechanism is curtailed to reduce the plane area thereof. According to the other method, the axial length of the mechanism is lessened to lower the profile thereof.
In the aforementioned axial-type drive mechanism, however, if the axial length of the rotating shaft is decreased in order to reduce the thickness of the HDD, the axial length of the coil and the magnet is also decreased. As a result, the area of the magnet facing the coil decreases and a necessary driving torque can not be obtained.
In the radial-type drive mechanism, if the radial length of the disk and the mechanism is reduced in order to decrease the plane area of the mechanism, the radial length of the coil and the magnet is also reduced. Thus, the area of the magnet facing the coil decreases and a necessary driving torque can not be obtained.
Due to the reason described above, the HDDs cannot be easily miniaturized or thinned.

Apparatus for driving information record medium


A circuit breaker characteristic monitoring device monitors the operation of a circuit breaker to estimate the amount of consumption of a movable contact and fixed contacts included in the circuit breaker. The device includes an operating time measurement unit to measure at least one of closing time, which is the time required for the circuit breaker to be closed after starting a closing operation, and opening time, which is the time required for the circuit breaker to be open after starting an opening operation, and a contact consumption amount estimation unit to estimate the amount of consumption of the movable contact and the fixed contacts on the basis of the result of measurement performed by the operating time measurement unit and travel speed of the movable contact during the closing operation or the opening operation for which the measurement result is obtained.

Conventional devices for monitoring the characteristics of circuit breakers monitor opening time, which is the time between the output of a command during the operation of the circuit breakers and opening of circuit breaker contacts; closing time, which is the time between the output of a command and closing of the circuit breaker contacts; opening speed, which is the speed during the time between the start of movement of the circuit breaker contacts and opening; and closing speed, which is the speed during the time between the start of movement of the circuit breaker contacts and closing. For example, in the invention described in Patent Literature 1, opening time is finely divided, and the change during each time period after the division is monitored to detect any abnormality in the circuit breaker. Patent Literature 2 discloses an invention in which the rising point and the minimum point of a control current waveform at power-on, and an operation starting point, a predetermined-angle rotating point, and a total-angle rotating point of a rotational operating shaft are detected, and the time and the distance between the points are compared with reference values, thereby obtaining an indication of any abnormality in the circuit breaker.

Circuit breaker characteristic monitoring device


Embodiments of the present invention provide a communication method and a user equipment. The method includes: establishing, by a first user equipment, Internet-based Web Real-Time Communication WebRTC multimedia communication with a second user equipment, where the Internet-based WebRTC multimedia communication includes Internet-based WebRTC audio communication and Internet-based WebRTC non-audio communication; and performing, by the first user equipment, a first audio communication change operation, where the performing, by the first user equipment, a first audio communication change operation includes: establishing, by the first user equipment, telecommunications domain-based audio communication with the second user equipment, and disconnecting, by the first user equipment in a case in which the Internet-based WebRTC non-audio communication with the second user equipment remains, the Internet-based WebRTC audio communication with the second user equipment. According to the embodiments of the present invention, quality of communication between user equipments can be improved.

Web Real-Time Communication (WebRTC) is a technology that can support a web browser to perform real-time multimedia communication. Different from a conventional multimedia communication manner based on a local client or a browser plug-in, the WebRTC integrates core modules that are necessary for multimedia communication, such as a processing (collecting, encoding, and enhancing) module, a network transmission module, and a session control module into a browser, so that a third-party application developer can obtain a real-time multimedia communication capability by simple JavaScript application programming interface (API) invoking only.
However, the WebRTC is after all multimedia communication based on the Internet and has inherent deficiencies. That is, service quality depends on a network condition of the Internet, and when the network condition is poor, the service quality of the WebRTC is greatly reduced, so that an advantage of free of charge or a low charge rate of the WebRTC cannot be reflected.


A signal-generating system for a striker clock comprises a clockwork-driven hour disk (12) having conductor tracks which coact with respective contact springs of an hour switch (13) whose pattern of energization changes from one quarter hour to the next, thereby calling forth different numerical values which are stored in a first read-only memory (18) and determine the number of strikes to be emitted in any 15-minute interval when a switch (8) coupled with the minute shaft of the clock is briefly closed. A flip-flop (23) set upon such closure starts a periodically pulsed binary counter (25) which works into a comparator (20) also receiving the numerical value read out from the first memory (18); when the count matches that value, the comparator resets the flip-flop and the counter. The reading of the counter is further transmitted to a decoder (30) addressing a second read-only memory (31) which actuates selected sound emitters (37a-37f) the requisite number of times. The selection of the sound emitters proceeds under a program stored in the second memory (31 ) which could be modified, periodically under the control of the first memory (18) or manually, to vary the acoustic effect. The flip-flop, pulse counter and comparator could be replaced by a microcomputer with input connections to the clockwork-driven minute and hour switches (8, 13) and to the two memories (18, 31) and with outputs for the selective actuation of the sound emitters (37a-37f).

Striker clocks driven by electric motors are already known in which the kind and number of the emitted strikes or sounds is predeterminable by mechanical scanning of mechanical or electrical means depending upon the position of an indicator shaft of the clockwork. Via a further clockwork shaft, generally moving more rapidly, the emission of the sequence of strikes preselected by the first shaft is triggered when called for. This involves either, in the case of a mechanical striker, the unblocking of the power train of the driving spring assembly and its reblocking after the emission of the acoustic signal or--in the case of an electric-motor drive--the cut-in of a miniature electric motor at the beginning of the emission of the acoustic time signal and its cutout at the end thereof.
These known arrangements, however, are relatively complex and cumbersome in their mechanical structure. They are expensive to manufacture and, furthermore, require relatively much space for their accommodation in the clock housing. They are, moreover, often prone to malfunction and sensitive to external influences such as thrusts and impacts, but also to contamination by dust, thickened oil etc.
Besides, the signal sequence to be emitted for indicating the time is fixedly preset in many cases so that a variation or modification is possible only with difficulty, e.g. by manual intervention, and often only in permanent fashion.


A recovery vehicle (10) having a 360.degree. rotatable hoist unit (22) with a boom member (26) mounted onto a vehicle frame (12), is described. The vehicle frame contains a single rear axle (16) having wheels (18) adjacent the sides (12E) of the vehicle frame. A first outrigger assembly (50) is mounted onto the underneath portion (12B) of the vehicle frame adjacent the distal end (12C) of the vehicle frame. The vertical arms (64, 66) of the first outrigger, pivot due to a rotatable yoke (62B) in the end (62A) of the horizontal arm (62) to enable the first outrigger assembly to extend backwards of the distal end of the vehicle frame to act as anchors during pulling by the hoist unit. A second outrigger assembly (52) is mounted between the proximal end (12D) of the vehicle frame and the rear axle.

(1) Field of the Invention
The present invention relates to a recovery vehicle having a 360.degree. rotatable hoist unit and a towing unit which are mounted onto a vehicle frame having a single axle. In particular, the invention relates to a recovery vehicle wherein the 360.degree. rotatable hoist is able to be rotated completely behind the cab of the vehicle with the entire hoist unit spaced above the vehicle frame. The recovery vehicle has stabilizing means adjacent to the front and rear of each side of the axle which act to both anchor and stabilize the vehicle frame during lifting.
(2) Prior Art
The prior art has shown various types of recovery vehicles and recovery units which mount on vehicles some of which are rotatable 360 degrees. Illustrative are U.S. Pat. Nos. 2,787,383 to Antos et al.; 2,911,111 to Grove; 4,134,500 to Sauber; 4,515,282 to Falch; 4,790,710 to Ayalon; 5,064,078 to Van Staveren.
Antos et al describes a rotatable hydraulic crane having a stationary support mounted on the rear of a vehicle between the dual axles and wheels. The vehicle is provided with outriggers and adjustable jacks to give the vehicle greater stability while using the boom crane to swing a load from one side of the vehicle to the other.
Grove describes a mobile crane having a telescopic sectionalized boom which allows loading and unloading and operates without winches. The crane is rotatably mounted onto the chassis of a mobile unit. The telescopic boom is provided with hydraulic cylinders which control the extension and retraction of the boom.
Sauber describes a mobile derrick, aerial man lifts and the like having a boom pivotably mounted on a clevis frame mounted for rotation on a turntable. The turntable is carried on a pedestal secured to the frame of a vehicle.
Falch describes a rescue vehicle having a rotatable crane mounted on a dual rear axle frame wherein a rescue winch is mounted on the crane turret for providing horizontal pulling power.
Van Staveren describes a combination portable hoist, crane and automobile towing mechanism. The device is mounted onto a modified vehicle bumper of a typical automobile. The crane is able to rotate 360.degree. in order to load and unload objects onto the vehicle.
Ayalon describes a multi-purpose recovery vehicle which includes a wheel mounted chassis, a continuously skewing crane assembly and a recovery assembly. The recovery assembly includes an extensible and retractable towing assembly, a retractable anchor assembly, a retractable stabilizing assembly and a winch. The recovery assembly is mounted rearward of and adjacent to the rear wall of the bed of the recovery. vehicle. The skewing crane is mounted onto the chassis of the recovery vehicle which is preferably a conventional three axle heavy duty truck.
The U.S. Pat. Des. Nos. 205,030 to Grove; 205,031 to Grove; and 301,127 to Lindblom; show various designs for recovery units and recovery vehicles.
None of the above references describe a recovery vehicle wherein the hoist unit is rotatable 360.degree. such that the entire hoist unit is able to be positioned over the vehicle frame behind the cab of the recovery vehicle. Further, the references do not describe a single axle recovery vehicle having the ability to lift 32,000 lbs wherein the hoist unit is mounted over the single rear axle. Finally, none of the references show the use of the stabilizer means which can act as an anchor during lifting.


A process for denitrating aqueous, nitric acid and salt containing waste solutions in which actinides are present, with simultaneous separation of the actinides, comprises agitating the waste solution at room temperature with diethyl oxalate and heating the resulting suspension to at least 75.degree. C.

The present invention relates to a process for denitrating aqueous nitric acid and salt containing waste solutions in which actinides are present, while simultaneously separating the actinides.
In reprocessing irradiated and spent fuel and/or breeder elements there result aqueous, radioactive waste solutions which carry along a number of salts. Inter alia, these solutions contain actinide salts which must be removed from these solutions before further treatment of the waste solutions is effected, for example for the purpose of solidifying the radioactive fission nuclides. This removal of actinide salts could be done, for example, by precipitation with oxalic acid, if the solubility product of the actinide oxalates, e.g. plutonium oxalate, can be exceeded. However, this is possible only if the nitric acid, which is present in high concentration, is destroyed practically completely.
In the past, a series of denitration processes have been proposed to dispose of highly radioactive waste solutions. A few of these processes will be listed here:
R. C. Forsman and G. C. Oberg, describe, in a US-AEC report from the Hanford Works, HW-79622, October 1963, entitled "Formaldehyde Treatment of Purex Radioactive Waste", a denitration with formaldehyde.
S. Drobnik destroys nitric acid with formic acid, as disclosed in German Pat. No. 1,935,273 and corresponding U.S. Pat. No. 3,673,086.
L. A. Bray and E. C. Martin disclose denitration with sugar in U.S. Pat. No. 3,158,577.
W. Boccola and A. Donato denitrate with phosphorus, as disclosed in German Pat. No. 2,125,915.
H. Richter and H. Sorantin describe, in a report of the Austrian Studiengesellschaft fur Atomenergie GmbH (in translation, Study Group for Atomic Energy) (Seibersdorf) SGAE Report No. 2252 ST 23/74, March 1974, the destruction of excess nitric acid in radioactive waste solutions with the aid of glycerin and the subsequent solidification of the residue as alkyd resin.
The above-listed processs have the following drawbacks:
In denitration with formaldehyde or formic acid, the nitric acid solution and denitration reagent cannot be mixed before the reaction since otherwise the denitration reaction would be too violent during heating. The denitration reagent must be added in measured quantities during the reaction. Separation of excess reagent is fraught with problems.
In denitration with sugar, sugar is added as an aqueous solution, and this adds to the volume of the waste solution.
In denitration with phosphorus, nonvolatile phosphoric acids are formed, inter alia, which remain in the denitrated solution.
In denitration with glycerin, the reaction exhibits an induction period as a function of temperature. Here again, the denitration reagent is added in measured quantities during the reaction.

Process for denitrating nitric acid and actinide containing waste solutions while simultaneously separating the actinides


A data-based memorabilia product and process of making the same is disclosed. The process includes defining individual data items in a data set on a hierarchical scale as common or uncommon based on a variation from a central tendency, wherein the data items are related to the intellectual property output and physical property output of an individual. Once defined, the data items may be sorted, structured, and correlated between the common data set and uncommon data set with one another, such as correlating an item in the common data set with an item in the uncommon data set-to form a correlative data item. A user of the method may influence the data selection based on personal preferences. Digital illustrations, physical illustrations, and physical products may be manufactured based on the method and at least one modified correlative data item.

The specification generally relates to a product manufacture system for the intersecting fields of information, fashion, and technology, wherein scientific and mathematic processes, structures, and methods, as well as scientific and mathematic computer software programs, automatically or semi-automatically manufacture products. The products apply one given individual's previously measured intellectual property data and previously measured physical property data. This data is hosted among, and further served by the products.
Intellectual property data is data attached to intangible property manufactured, in part or in whole, by the given individual, such as digital number, text, image, audio, and/or video, for example. Physical property data is data attached to tangible property manufactured, in part or in whole, by the given individual, such as physical textiles, for example. Data is generally defined as data sets and data set values, and data is manufactured by the given individual among one or more of defined space and/or time, such as the defined space and/or time of the given individual's one event, for example.

Data-based memorabilia product and method of making the same


A signal transmission circuit constructed such that, when a signal of one channel is transmitted in two-divided signal transmission lines, discharge switching elements on two precharged signal transmission lines are controlled by four switching elements (three P-channel MOS transistors and one N-channel MOS transistor). Therefore, when one signal transmission line is at a low level during a signal transmission period, the discharge switching elements of both the signal transmitting lines conduct, leading one signal transmission line to be discharged. This causes the low level signal to be transmitted to the other signal transmitting line.

1. Field of the Invention
This invention relates to a signal transmission circuit, and more particularly to a signal transmission circuit which is adapted to precharge a signal transmission line and transmit a signal due to whether the charge is maintained or discharged (connected to ground potential).
2. Description of the Prior Art
FIG. 1 is a typical circuit diagram of the conventional signal transmission circuit of a usual precharge system.
In FIG. 1, reference numeral 1 designates a signal transmissin line (bus), which is connected to power supply potential V.sub.cc through a P-channel MOS transistor 2 and to earth potential through a capacitor C.
The signal transmission line 1 connects with a data latch 3 for transmitting a signal and a register 4 for receiving the signal.
The data latch 3 is connected to a gate terminal of an N-channel MOS transistor 5 which connects at one end to earth potential and at the other end to one end of an N-channel MOS transistor 6, the other end of the transistor 6 being connected to the signal transmission line 1, the gate terminal of the same being connected to an output terminal of an AND gate 7.
The AND gate 7 has two inputs, one input of which is given an output clock for outputting the signal to the signal transmission line 1, the other input being given a selecting signal for outputting the signal from the data latch 3 with which the AND gate 7 is connected.
On the other hand, the resister 4 is connected to one end of an N-channel MOS transistor 8 connecting at the other end with the signal transmission line 1. The gate terminal of the N-channel MOS transistor 8 is connected to an input clock for fetching the signal from the signal transmission line 1.
Such conventional signal transmission circuit of precharge system operates as follows:
As shown in FIG. 2(a), precharge clock of negative logic which is given to the gate terminal of the P-channel MOS transistor 2 is at a low level during the precharge period and at a high level during the signal transmission period.
Also, as shown in FIG. 2(b), and an output clock which is at a low level during the precharge period and a high level during the signal transmission period is given to one input of the AND gate 7.
Furthermore, as shown in FIG. 2(c), an input clock which is given to the gate terminal of the N-channel MOS transistor 8 is at a low level during the entire precharge period and during most of the singal transmission period and at a high level only during rear part of the signal transmission period.
At first, during the precharge period, the precharge clock of negative logic is given as the low level signal to the gate terminal at the P-channel MOS transistor, whereby the signal transmission line 1 is connected with power supply potential V.sub.cc. Hence, the capacitor C connected with the signal transmission line 1 is charged as shown in FIG. 2(d).
Next, during the signal transmission period, the output clock of high level signal and selecting signal are given to the AND gate 7, whereby the high level signal is given to the gate terminal of the N-channel MOS transistor 6 and the N-channel MOS transistor 6 conducts. At this time, it will be assumed that the output signal from the data latch 3 is a logical "1" (high level). Since the high level is given also to the gate terminal of the N-channel MOS transistor 5, the N-channel MOS transistor 5 conducts the signal transmission line 1 is grounded through the N-channel MOS transistors 6 and 5. When the signal-transmission line 1 is grounded, as shown by the broken line in FIG. 2(d), the capacitor C is discharged. Thereafter, as shown in FIG. 2(c), when the input clock of high level is given to the gate terminal of the N-channel MOS transistor 8, the low level signal, is inputted to the register 4 through the N-channel MOS transistor 8.
Meanwhile, when the low level signal is outputted from the data latch 3, the N-channel MOS transistor 5 does not conduct. The signal transmission line 1 is not grounded and the capacitor C is not discharged. Accordingly, since the signal transmission line 1 is kept at the high level even at signal transmission period, the high level signal is inputted into the register 4 at the timing of input clock shown in FIG. 2(c).
As is above-mentioned, in the conventional signal transmission circuit of precharge system shown in FIG. 1, the signal of logical "1" (at a high level) or "0" (at a low level) is inverted and inputted to the register 4.
In such conventional signal transmission circuit of precharge system, the longer a physical distance of signal transmission line 1 is, the more unstable the discharge of capacitor C is when the N-channel MOS transistor 5 and 6 conduct. This is shown by the one-dot broken line in FIG. 2(d), thereby creating the phenomenon of difficult discharge.
In light of the above circumstances, a signal trasmission circuit of, for example, the precharge system as shown in FIG. 3 is well-known.
The signal transmission circuit constructed as shown in FIG. 3 divides the signal transmission line (bus) into two line B1 and B2, to prevent the aforesaid precharge potential from being unstable.
In FIG. 3, first and second signal transmission lines (buses) B1 and B2 are connected at one ends to first and second signal input-output terminals 101 and 102 respectively through which the signal is inputted or output. At the other end, a connection is made to one input of a first NOR gate N1 and to one input of a second NOR gate N2 respectively. The signal is transmitted between both the signal input-output terminals 101 and 102 as discussed below.
The other inputs of both the NOR gates N1 and N2 connect with a first precharge signal terminal PC1.
The first signal transmission line B1 connectes with power supply potential V.sub.cc through a first MOS transistor (P-channel type) T51 as a switching element and with earth potential through a second MOS transistor (N-channel type) T52.
The second signal transmission line B2 connects with power supply potential V.sub.cc through a third MOS transistor (P-channel type) T53 at the switching element and with earth potential through a fourth MOS transistor (N-channel type) T54.
The gate terminal of the first and third MOS transistors (both P-channel) T51 and T53 are connected to a precharge signal terminal PC2. Accordingly, when the second precharge signal terminal PC2 is given the low level signal, both the P-channel MOS transistors T51 and T53 conduct so as to feed power supply potential to both signal transmission lines B1 and B2.
On the other hand, the output of the second NOR gate N2 is applied to the gate terminal of the second MOS transistor T52 of N-channel type. The output of the first NOR gate N1 is given to the gate terminal of the fourth MOS transistor T54 of N-channel type. Hence, when the output of the second NOR gate N2 is at a high level, in other words, the first precharge signal terminal PC1 and the second signal input-output terminal 102 are both low level inputs, the second MOS transistor T52 connects the first signal transmission line B1 to earth. Also, when the output of the first NOR gate N1 is at a high level the first precharge signal terminal PC1 and the first signal input-output terminal 101 are both at low level inputs, the fourth MOS transistor T54 connects the second signal transmissin line B2 to earth.
Such signal transmission circuit of precharge system operates as follows:
The first and second precharged signal terminals PC1 and PC2 are given the first and second precharge signals complementary with each other as shown in FIGS. 4(a) and (b). The period of keeping the first precharge signal at a high level is the precharge period, that of keeping the same at a low level being the signal transmission period.
Usually, in the signal transmission cicuit of a precharge system, a signal of logical "1" or "0" is transmitted as a function of whether or not the charge on the signal transmission line (precharge line) during the precharge period is discharged, as described in the explanation of operation in FIG. 1. The operation of the circuit shown in FIG. 3 is as follows:
The low level signal is inputted to the second precharge signal terminal PC2 during the precharge period. The first and third MOS transistors T51 and T53 conduct, and the high level signal is inputted to the first precharge signal terminal PC1. The outputs of both the NOR gates N1 and N2 are at low levels, and the second and fourth MOS transistors T52 and T54, whose gate terminals are given the outputs of NOR gate N1 and N2, do not conduct.
Accordingly, both the signal transmission lines B1 and B2 are connected to the power supply potential V.sub.cc during the precharge period. This allows them to be precharged from the power supply potential.
Next, since the second precharge signal terminal PC2 is turned to a high level during the signal transmission period, the first and third MOS transistors T51 and T53 do not conduct. Since the input signal to the first precharge terminal PC1 turns to low level, the outputs of both the NOR gates N1 and N2 change corresponding to the level of the input signal to the first signal input-output terminal 101 and second signal input-output terminal 102.
Now, assuming that, for example, the input signal to the first signal input-output terminal 101 (the signal to be transmitted from the first signal input-output terminal 101 to the second signal input-output terminal 102), is a logical "0", the input signal to the first signal input-output terminal 101 is a low level. Hence, the output of the first NOR gate N1 turns to a high level and is given to the gate terminal of the fourth MOS transistor T54. Accordingly, since the fourth MOS transistor T54 conducts, the second signal transmission line B2 is grounded through the fourth MOS transistor T54 and the signal output of the second signal input-output terminal 102 is at a low level.
On the contrary, when the signal to be transmitted is a logical "1", since the first signal input-output terminal 101 is given the high level signal, the output of the first NOR gate N1 is at a low level and the fourth MOS transistor T54, whose gate terminal is given the low level output, maintains the not-conductive state. Therefore, the signal output from the second signal output terminal 102 has a high level.
Namely, in the signal transmission cicuit shown in FIG. 3, the signal of logical "1" or "0" inputted from the first signal input-output terminal 101 (or the second signal input-output terminal 102) is inverted to be outputted to the second signal input-output terminal 102 (or the first signal input-output terminal 101).
Incidentally, in the aforesaid construction shown in FIG. 3 the two input NOR gates are used, but the usual two-input NOR gate adopts construction as shown in FIG. 5. The two references IN designate input terminals, the one reference OUT an output terminal, four MOS transistors TR1 through TR4.
The conventional signal tranmsmission circuit of a precharge system, which is constructed as above-mentioned, requires a total of 12 MOS transistors to be used as the switching element, thereby creating problems in that the number of elements must be increased.


A paint used as a corrosion-protective coating of products and structures of ferrous and non-ferrous metals adapted to operated in a temperature range of from minus 40.degree. C. to plus 550.degree. C. to 600.degree. C. The paint comprises (in weight %): direct-synthesis butanolized polyphenylsiloxane resin, 20-22; aluminum powder, 12-18; aerosil (pure silicon dioxide), 3-7; a copolymer of methylmethacrylate and methacrylic acid, 13-29; and solvent, 36-40.

Known in the present state of the art are heat-resistant paints based on silicone compounds (polymethylsiloxanes, polymethylphenylsiloxanes, and polyethylphenylsiloxanes). The operating temperature of products or structures to which coatings based on said paints are applied is not, however, to exceed 400.degree. C. In addition, said coatings are capable of curing (that is, forming a three-dimensional structure) at as high temperature as 200.degree.-300.degree. C.
Another heat-resistant paint (EP, B, 0202178) is known to be based on methylphenylsiloxane resin, comprising silicon dioxide, aerosil, and powdered aluminium. The coating based on said paint is heat-resistant and preserves its physical properties at a temperature up to 250.degree. C.
Said paint is disadvantageous in using methylphenylsiloxane resin as a film-forming agent, which fails to establish a reliable cross-linked structure at a temperature of plus 150.degree.-250.degree. C. and is liable to destruct at temperatures above plus 250.degree. C. Moreover, such a coating is dried only at an elevated temperature (above 100.degree. C.).
One more disadvantage of said known paint resides in that it contains up to 25% of aerosil which badly thickens the composition, thus depriving it of fluidity and hence of a possibility of being spray-or electrolytically deposited. This in turn deprives aluminium powder of its intrinsic metallic lustre, which is causative of a dull-gray color of the coating.


It is intended to provide a CAPRIN-1-targeting antibody superior in antitumor activity to conventional antibodies, and use thereof as a therapeutic and/or preventive agent for a cancer. The present invention provides an antibody targeting a CAPRIN-1 polypeptide specifically expressed on the surface of cancer cells, and use of the antibody as a therapeutic and/or preventive agent for a cancer. The present invention provides an antibody which comprises a heavy chain variable region comprising complementarity-determining regions of SEQ ID NOs: 1, 2, and 3 and a light chain variable region comprising complementarity-determining regions of SEQ ID NOs: 4, 5, and 6 and has immunological reactivity with a CAPRIN-1 protein, or a fragment thereof, and a pharmaceutical composition for the treatment and/or prevention of a cancer, comprising this antibody or fragment as an active ingredient.

Cancers are diseases that account for the leading cause of death. The current treatment thereof consists principally of surgical therapy, which may be combined with radiation therapy and/or chemotherapy. In spite of the development of novel surgical techniques or the discovery of novel anticancer agents in recent years, the existing treatment of cancers has an insufficiently improved outcome, except for some cancers. With advances of molecular biology or cancer immunology, antibodies that specifically react with cancers, cancer antigens that are recognized by cytotoxic T cells, genes encoding such cancer antigens, and the like have been identified in recent years, raising expectations on specific cancer therapy targeting the cancer antigens.
Cytoplasmic-activation and proliferation-associated protein 1 (CAPRIN-1) has been known as an intracellular protein that is expressed upon activation or cell division of resting normal cells and forms cytoplasmic stress granules with intracellular RNAs to participate in the regulation of transport and translation of mRNAs. This protein has been found to be specifically expressed on the surface of cancer cells and is under study as a target of antibody drugs for cancer treatment (Patent Literatures 1 to 19).

Pharmaceutical composition for treatment and/or prevention of cancer


A binding for coupling a shoe to a snowboard and the like, comprising a base plate that can be fixed to a snowboard and the like and supports a front band, a rear band and a rear spoiler, fastenable onto a shoe, an interconnection being provided for connecting the spoiler and the front and rear bands for positioning in an open position, in which the bands are raised, with the rear spoiler in a lowered position for insertion of the shoe, and for positioning in a closed position, in which the bands are fastened onto the shoe, with the rear spoiler in the raised position.

As is known, several kinds of bindings for coupling a shoe to a snowboard are already commercially available and are produced according to the most disparate functional and constructive criteria.
Among conventional solutions, mention is made of those provided with a base element, to which a front band and a rear band are connected, and a rear quarter or spoiler, which is mounted so that it can oscillate with respect to the base, so as to be lowered in order to facilitate shoe insertion.
In the conventional solutions it is necessary to perform separate actuations to lock the spoiler and the front and rear bands that retain the foot, so that during opening or closure of the binding it is necessary to perform a relatively troublesome operating sequence.
Another problem is further constituted by the fact that when the binding is opened, the preset adjustments are lost, with the need to restore the various adjustments at each successive closure operation.

Binding for coupling a shoe to a snowboard and the like


A zoom gesture determination method for a touch control device includes detecting a first touch point and a second touch point; determining a position difference between the first touch point and the second touch point; and deciding a zoom gesture represented by the first touch point and the second touch point according to variations in the position difference.

1. Field of the Invention
The present invention relates to a zoom gesture determination method and touch control chip, and more particularly, to a zoom gesture determination method and touch control chip that can be utilized in a self-capacitative touch control device.
2. Description of the Prior Art
A touch control device has the benefits of ease of operation, fast reaction and space efficiency. These features allow users to perform operations more intuitively and conveniently; consequently, touch control devices have become important input interfaces that are widely utilized in various consumer electronic products. Specifically, a touch control device utilizes a detection circuit to detect electrical signals of a matrix composed of a plurality of wires, and convert the electrical signals into digital detection data values to determine a touch event. A conventional touch control device is mostly suited for single touch point operations, and faulty determination may occur in multiple touch point operations.
Please refer to FIG. 1, which is a schematic diagram of a projected capacitive touch sensing device 10 of the prior art. The projected capacitive touch sensing device 10 includes sensing capacitor strings X1-Xm and Y1-Yn. Each sensing capacitor string is a one-dimensional structure formed by connecting a plurality of sensing capacitors in series. The conventional touch sensing method detects the capacitance in each sensing capacitor string to determine whether a touch event occurs. The sensing capacitor strings X1-Xm and Y1-Yn are utilized to determine vertical and horizontal touch events, respectively. In the case of horizontal operations, assume the sensing capacitor string X1 has Q sensing capacitors, and each sensing capacitor has a capacitance of C. Under normal circumstances, the sensing capacitor string X1 has a capacitance of QC. If a difference in capacitance caused by a human body (e.g. a finger) touching a sensing capacitor of the sensing capacitor string X1 is ΔC, it can be inferred that the finger is touching a certain point on the sensing capacitor string X1 when the capacitance of the sensing capacitor string X1 is detected to be greater than or equal to "QC+ΔC". For multi-touch operations, as shown in FIG. 1, where two fingers concurrently touch the projected capacitive touch sensing device 10, the sensing capacitor strings X3, Xm−1, Y3 and Yn−1 will concurrently sense capacitance variations; thus, it is determined that touch events occur at all points (X3, Y3), (X3, Yn−1), (Xm−1, Y3) and (Xm−1, Yn−1). In fact, only (X3, Y3) and (Xm−1, Yn−1) are real touch points, whereas (X3, Yn−1) and (Xm−1, Y3) are not. This faulty determination of the projected capacitive touch sensing device 10 leads to a detection error where two nonexistent touch points are registered, causing what is known as the "ghost key" phenomenon. Therefore, for multi-touch operations, it is only possible to determine which intersections of the sensing capacitor strings the touch event may have occurred at, instead of a precise and definite touch point.

This patent is subject to a terminal disclaimer.

Zoom gesture determination method and touch control chip


An apparatus for serially molding articles from a plastic resin material includes an extruder having an output for producing a stream of plasticized resin material. A circular array of molds is arranged about a central area and a runner system coupled between the extruder output and the circular array of molds maintains the stream of plasticized resin material at a temperature suitable for molding. A valve is connected between the runner system and an input leading to an accumulator chamber of each mold of the circular array for sequentially directing the plasticized resin into each of the molds to form a molded article therein. A molded article extractor sequentially removes the molded article from each of the molds, and a molded article handling apparatus coupled to the molded article extractor arranges the molded articles in a series for removal through the central area.

The present invention relates to an injection molding system for serially molding articles and particularly to such a system having apparatus for serially removing the molded articles from the injection molds. More particularly, the invention relates to such an injection molding system which operates continuously, and further includes apparatus for serially removing the articles from the injection molds and apparatus for serially transporting the molded articles away from the injection molds. The invention has particular utility in the formation of parisons or preforms for the manufacture of plastic bottles.
Plastic bottles can be produced from a parison generally resembling a thick test tube which is injection molded to include a completely formed finish including, where desired, threads or other features to receive a bottle closure, and a neck ring to facilitate handling of the parison and bottle. In the so-called two-stage process, the parison is cooled generally to room temperature after molding, and can be stored for substantial periods of time before subsequent blow molding into a bottle. At the time of blow molding, the parison is fed into a machine where the parison is re-heated and blown with compressed air to form the finished bottle.
An advantage of the two-stage process is the substantial flexibility achieved by allowing the injection molding and blow molding operations to occur at different locations and times. Additionally, because the parisons are so much smaller in volume than the finished bottles they produce, the parisons are easier and more economical to handle and transport. The injection molding step is generally more time consuming than the blow molding step. To avoid any inefficient use of the blow mold, the number of injection molds and blow molds can be coordinated so that the production of parisons by the injection process matches the production capacity of the blow molding apparatus. This enables one to use both the injection and blow molding processes at maximum time efficiency by coordinating the number of each type of mold with the duty cycle required by each type of mold to achieve maximum volume production.
Some systems have been developed for simultaneously injection molding as many as ninety-six parisons. In typical simultaneous parison molding operations, a set of cores and a set of cavities are arranged to reciprocate horizontally between a "closed" position where molten resin is injected to form the parisons and an "open" position where the parisons are ejected from the injection molding machine. Production is maximized by shortening the duty cycle of the injection molding machine which results in the parisons being ejected at higher temperatures. However, at higher temperatures, the parisons are increasingly susceptible to plastic deformation which can contribute to significant bottle non-uniformity in any subsequent blowing operation. The plastic deformation is particularly acute if the parison is retained at high temperature in a horizontal attitude while supported only by one end of the parison, typically the finish or the support ring.
Another problem with the simultaneous injection molding of a large number of parisons or other articles in a single operation resides in the need for batch processing of a significant volume of resin prior to actual injection. As the volume of the batch increases, the opportunity for thermal degradation of the resin also increases due to increased residence time of the resin at elevated temperature. To eliminate the resin residence time problem while still molding a large number of articles such as parisons, it has been proposed to couple a single resin plasticizer to a plurality of mold units as in Stroup, et al., U.S. Pat. No. 4,470,796. Stroup incorporates multiple molding cavities in each mold and operates the plurality of mold units in relation to each other such that the plasticizer can be operated in a continuous rather than a batch mode. Stroup also uses a plurality of transfer devices situated around the periphery of the mold units to transfer the molded parisons to a plurality of rotary stretch blow molding machines. The use of the plurality of transfer devices represents a significant capital investment which might be avoidable if the mold units could all be serviced by a single transfer device for transferring the molded parisons to subsequent processing equipment.
Thus, there is a need for a continuous injection mold system that serially molds a plurality of articles and then serially transfers the articles to subsequent processing equipment such as a blow mold to ensure that each finished article has the same pressure-temperature history. There is also a need for a continuous injection mold system which maintains the molded articles in an upright orientation to minimize any distortion of the articles as they cool.


A predistortion circuit includes a first splitter for splitting an input signal into primary and secondary electrical paths, a first combiner for combining a main signal on the primary electrical path and a predistorted signal on the second electrical path into a single signal for modulating a nonlinear device with predictable distortion characteristics, a distortion signal generator for receiving a branch signal from the first splitter and for producing first and second intermodulation products, a second splitter for receiving the first intermodulation products and for outputting two sets of the first intermodulation products, a third splitter for receiving the second intermodulation products and for outputting two sets of the second intermodulation products, an even-order signal processing unit for processing one set of the first intermodulation products and one set of the second intermodulation products to generate even-order intermodulation products, an odd-order signal processing unit for processing the other set of the first intermodulation products and the other set of the second intermodulation products to generate odd-order intermodulation products, and a second combiner for combining the even-order intermodulaton products and the odd-order intermodulation products to obtain the predistortion signal.

1. Field of the Invention
The invention relates to a predistortion circuit for providing a linear output from a transmission device which has an output distorted from its input due to inherent nonlinearly, more particularly to a predistortion circuit that has a simple construction.
2. Description of the Related Art
It is well known to modulate the analog intensity of an optical source, such as a semiconductor laser, using an electric signal, in order to transmit analog signals, such as sound or video signals, on optical fibers. Distortion inherent in analog transmitters prevents an electrical modulation signal from being converted linearly to an optical signal, and instead distorts the signal. This is especially problematic with a multi-channel video transmission system, such as cable television. Therefore, a predistortion circuit is used to reduce the distortion inherent in nonlinear devices.
Referring to FIG. 1, optical power intensity of a nonlinear semiconductor laser in relation to current flowing therethrough is determined according to the following Equation 1: EQU P.sub.out =a.sub.1 I+a.sub.2 I.sup.2 +a.sub.3 I.sup.3 + (Equation 1)
where "P.sub.out " is the optical power intensity of the semiconductor laser, "I" is the current flowing through the semiconductor laser, and "a.sub.1,a.sub.2,a.sub.3, . . . " are coefficients of nonlinear Taylor expansion.
Referring to FIG. 2, an input signal is split into a main path and a secondary path (P.sub.1, P.sub.2). "I.sub.1 ", which is the current flowing through the main path (P.sub.1), and "I.sub.2 ", which is the current flowing through the main path (P.sub.2), in relation to the signal voltage (V) can be determined according to the following Equations 2 and 3: EQU I.sub.1 =b.sub.1 V+b.sub.2 V.sup.2 +b.sub.3 V.sup.3 + (Equation 2) EQU I.sub.2 =c.sub.1 V+c.sub.2 V.sup.2 +c.sub.3 V.sup.3 + (Equation 3)
If the relationship of "P.sub.out " to the signal voltage (V) is in accordance with the following Equation 4: EQU P.sub.out =k.sub.1 V+k.sub.2 V.sup.2 +k.sub.3 V.sup.3 + (Equation 4)
By introducing I=I.sub.1 =I.sub.2 into Equation 1 and by comparing Equation 4, we can obtain the following: EQU k.sub.1 =a.sub.1 (b.sub.1 +c.sub.1) (Equation 5.1) EQU k.sub.2 =a.sub.2 (b.sub.2 +c.sub.2)+a.sub.2 (b.sub.1.sup.2 +c.sub.1.sup.2 +2b.sub.1 c.sub.1) (Equation 5.2) EQU k.sub.3 =a.sub.3 (b.sub.3 +c.sub.3)+a.sub.2 (2b.sub.1 b.sub.2 +2c.sub.1 c.sub.2 +b.sub.1 c.sub.2 +b.sub.2 c.sub.1)+a.sub.3 (b.sub.1.sup.3 +c.sub.1.sup.3 +3b.sub.1.sup.2 c.sub.1 +3b.sub.1 c.sup.2.sub.1) (Equation 5.3)
If the coefficients (C.sub.I, I=1, 2, 3, . . . )of the nonlinear current (I.sub.2) flowing through the secondary path (P.sub.2) can be adjusted such that EQU k.sub.2 =k.sub.3 =. . . =k.sub.n =. . . =0 (Equation 6)
P.sub.out =k.sub.1 V in Equation 4, which is the ideal aim.
Conventional predistortion circuits are disclosed in U.S. Pat. Nos. 4,992,754, 5,132,639, 5,252,930, and 5,424,680.
The following are some of the drawbacks of the predistortion circuits disclosed in the aforesaid U.S. Patents:
1. In U.S. Pat. Nos. 4,992,754 and 5,132,639, two predistortion generators are needed to provide second-order and third-order predistortion compensation, thereby resulting in greater complexity and higher costs.
2. In U.S. Pat. No. 5,252,930, only second-order predistortion compensation can be provided such that the distortion compensating effect is inferior.

Predistortion circuit for linearization of signals


In a weaving loom having a frame and a take-up roller spanned between first and second spaced sections of the frame to wind thereon a fabric, a resilient rod is spanned between the first and second spaced sections to cross the fabric at a position upstream of the take-up roller while being in slidable contact with the fabric, and camber producing means is arranged to flex the resilient rod to produce a camber which protrudes towards the fabric pressing same and is changeable in shape in response to the degree of a biasing force applied to the resilient rod. Thus, the desired form of the camber appropriate for neat winding of the fabric on the take-up roller is easily provided by an operator.

Usually, looms are equipped at a position upstream of the fabric take-up roller with fabric guide devices for allowing the fabric to be neatly wound up on the take-up roller without making creases or wrinkles in the wound fabric. Hitherto, as the fabric guide devices, arch-shaped plates or barrel-shaped rollers have been used, which are arranged to raise up to a maximum the laterally middle portion of the fabric located upstream of the take-up roller. However, in these conventional devices, it is necessary to change the arch-shaped member (or the barrel-shaped roller) by another one having a different length every time the width of the fabric changes due to changing of fabrics to be produced. If this is not done, many unsightly creases or wrinkles tend to appear at the laterally middle portion of the wound fabrics on the take-up roller. It is apparent that the changing of such a fabric guide device with another one is troublesome thus lowering the fabric production efficiency of the loom.

Weaving loom with improved guide means for fabric


Metal ion impurities are removed from phosphoric acid by adding to the acid a precipitant comprising ions of calcium and fluorine to cause precipitation of a magnesium-containing precipitate. A preferred precipitant is one containing calcium flouride, such as the sludge obtained by treating pond water from a phosphoric acid plant with a calcium-containing compound. Preferably, the soluble sulfate content of the phosphoric acid is maintained at at least about 2% by weight. An animal feed can be prepared from the precipitate by combining the precipitate with phosphate rock, water, and a sodium-containing compound, and then calcining the combination.

This invention relates to a method for removing impurities, such as magnesium, from wet process phosphoric acid.
Phosphoric acid has been prepared by the wet process method for many years. The wet process involves the reaction of phosphatic solid materials, hereinafter termed phosphate rock, with sulfuric acid, usually in a slurry of phosphate rock and calcium sulfate in phosphoric acid. The sulfuric acid reacts exothermically with the phosphate rock to produce a slurry of phosphoric acid and calcium sulfate. The phosphoric acid is separated from the calcium sulfate by filtering.
The names of three processes for producing phosphoric acid are based upon the by-product calcium sulfate produced, namely, the gypsum or dihydrate process, the hemihydrate process, and the anhydrite process. The type of by-product produced is dependent upon the temperature of the system and the P.sub.2 O.sub.5 concentration of the liquid. Other factors, such as fluorine concentration, alumina concentration, and sulfuric acid concentration, play a less important role. As used herein, "calcium sulfate" refers to all three types of calcium sulfate, i.e., gypsum, hemihydrate, and anyhydrite.
Gypsum, CaSO.sub.4 . H.sub.2 O, is the by-product formed when the wet process is run at a temperature of 90.degree. C. or less and a P.sub.2 O.sub.5 concentration of about 30% in the liquid portion of the slurry. Increasing the temperature to about 90.degree. to 120.degree. C. and the P.sub.2 O.sub.5 concentration to about 40% in the liquid phase yields hemihydrate, CaSO.sub.4 . 1/2H.sub.2 O. The phosphoric acid produced by the hemihydrate process, before any concentration, typically has a P.sub.2 O.sub.5 content greater than 38% by weight. CaSO.sub.4, anhydrite, is produced at temperatures of about 130.degree. C. at P.sub.2 O.sub.5 concentrations greater than 30%. This latter process is most difficult to run due to severe corrosion at the higher temperatures and the instability of the anyhydrite during processing.
A detailed description of a method for producing phosphoric acid by the dihydrate process can be found in U.S. patent application Ser. No. 909,899, filed by Fernando Ore, John David Ellis, and James Harold Moore, entitled "Phosphoric Acid Processed with High Circulation Rates", which is a continuation-in-part of U.S. patent application Ser. No. 703,138, filed July 7, 1976 now abandoned. Both of these applications are incorporated herein by this reference.
A process for preparing phosphoric acid by the hemihydrate process is described in U.S. patent application Ser. No. 865,556, filed Dec. 29, 1977, by Fernando N. Ore, John David Ellis, and James Harold Moore, entitled "Hemihydrate Type Phosphoric Acid System", which is a continuation-in-part of application Ser. Nos. 703,139 and 703,138, both of which were filed on July 7, 1976. All three of these applications are incorporated herein by this reference.
When phosphoric acid is made by any of these processes, impurities in the rock are dissolved and are present in the resulting phosphoric acid. The principal impurities which are difficult to remove are compounds and complexes containing calcium, aluminum, silicon, fluorine, sulfate, and magnesium. Removal of these impurities is important because the phosphoric acid is usually concentrated up to about 48 to 54 weight percent P.sub.2 O.sub.5 and, during storage, the impurities can precipitate to form a solid which is found objectionable by most customers.
Many attempts have been made to remove impurities from wet process phosphoric acid. Exemplary of the techniques used are those described in U.S. Pat. Nos. 3,124,419; 3,206,282; 3,273,713; 3,379,501; 3,442,609; 3,481,700; and 3,642,439; and British Patent Nos. 467,843 and 1,337,669. Methods described in these patents generally are complicated, difficult to use, and in many cases are ineffective for removing magnesium-containing impurities. In addition, none of the methods described in these patents involves a commercial use for the precipitate formed in removing the impurities from phosphoric acid.
Therefore, there is a need for a simple, inexpensive, and effective method for removing impurities, such as magnesium, from wet process phosphoric acid, and there is a need for a method which converts the precipitate formed into a useful product.

Metallic ion removal from phosphoric acid


A base assist section generates a base assist command so that a steering reaction according to a road surface reaction returns to a steering wheel side. A modifying section generates a torque modifying command for modifying the base assist command so that an unstable movement of a vehicle converges appropriately. A sum of the each command becomes a final assist torque command. The base assist section estimates a road surface force based on the self-generated base assist command and a steering torque actually detected. A target steering torque is generated based on the estimated force, and the base assist command is generated based on a deviation of the target steering torque and the steering torque.

In order for a motor to generate a suitable assist steering power according to a steering operation (steering) of a driver, a control device (an ECU) computes the assist steering power based on various inputs applied to a steering shaft by the steering operation of the driver, such as a steering torque and a vehicle speed, and drives the motor based on the computed assist steering power.
The conventional electric power-steering system basically controls the motor so that the assist steering power applied by the motor becomes larger as the steering torque becomes larger.
When the driver turns a steering wheel, the assist steering power is generated according to the applied steering torque, and so the steering operation becomes lighter.
However, it is difficult to give the driver a correct impression via the steering wheel of the reaction between the road and wheels, only by determining the assist steering power based on the steering torque.
In other words, it is difficult to configure a target steering torque according to the road surface force and generate the assist steering force according to the target steering torque (that is, realizing the target steering torque according to the road surface force) in order to impress on the driver the steering operational feeling according to the road surface force.
On the other hand, a technology that controls a motor based on a deviation of a target steering torque from an actual steering torque is disclosed in Japanese Patent Application Laid-Open Publication No. 2004-203089.
With the technology disclosed in the publication '089, a force (namely, a road surface reaction) given to a tire is acquired by requesting an output torque from a sum of an actual steering torque (torque given by the driver) and an assist torque (torque given by the motor).
Then, the target steering torque is configured according to the obtained output torque (the road surface reaction force).
Thereby, the target steering torque can be determined unambiguously.
Therefore, the target steering torque whose change (namely, change of the road surface reaction force) is compensated for by the output side torque can be configured by considering influences of friction and inertia superimposed on the steering torque when turning sharply the steering wheel, for example, or by modifying based on a vehicle movement state.
However, although the target steering torque is configured considering the road surface reaction in the technology disclosed in the publication '089, the assist torque is generated based on a the torque applied to the steering wheel called steering torque fundamentally.
Therefore, although the required torque on the shaft can be suppressed (that is, the steering operation can be made light), the convergence of the vehicle cannot be secured because, a revolving speed of the motor (revolving speed of the steering shaft) cannot be controlled appropriately in a situation where the twist decreases when returning the steering wheel to a neutral position, for example, or under a situation where the steering wheel reverts to the neutral position with few twists when the hands of the driver separate from the steering wheel after steering.
For example, although it is satisfactory in particular when turning the steering wheel sharply, rotation of the shaft in a direction returning to the neutral position is speeded up because the twist of the shaft returns when steering wheel return and the assist torque also decreases by this, therefore, the stability and the convergence of the vehicle is spoiled.
Although it is good for the driver when operating the steering wheel firmly, a motion of the vehicle becomes sensitive and hard to converge to the desired direction when power applied to the steering wheel is reduced or the hands are separated from the wheel, thus gives a feeling of insecurity to the driver as the vehicle speed gets faster.
Hence, securing the operation stability of the whole vehicle appropriately (realizing the suitable vehicle movement characteristics) is not made with the technology disclosed in the publication '089.
Therefore, the driver must respond to a vibration force that is transmitted to the steering wheel when a movement of the vehicle is unstable, and there is a possibility of interfering with the driving operation.
If damping is used in order to secure convergence, resistance is given when returning the steering wheel and convergence improves, however, resistance is also given when turning the steering wheel deeply, and a steering feeling to the driver is spoiled.
If control actions are changed for the time of turning and the time of returning the steering wheel, respectively, in order to avoid the problem mentioned above, the control processing may become very complicated and conformity between them both may become difficult.
On the other hand, as one of the technologies for securing operation stability appropriately, and as a technology for reducing a sudden feeling of return when returning the steering wheel and raising the convergence of the vehicle direction without spoiling the feeling when turning the steering wheel, a convergence control technology that calculates a fundamental assist steering power (base assist torque) based on the steering torque and the speed of the vehicle, computes a modifying torque for modifying the base assist torque based on the steering torque and the motor speed (rotation angle speed), and modifies the base assist torque by the modifying torque is known, for example, (refer to Japanese Patent Application Laid-Open Publication No. 2010-264913, for example).
That is, while the steering torque is a physical value in which the operation state of the steering wheel by the driver is reflected, the motor speed is a physical value in which the influence of the road surface reaction is also reflected in addition to the operation of turning the steering wheel by the driver.
Therefore, based on the steering torque and the motor speed, a control mechanism can be constituted that can realize the convergence control such that the operational feeling is not spoiled when turning the steering wheel, and the sudden feeling of return of the when to the neutral position by the road surface reaction is reduced when returning the steering wheel.
Therefore, in the publication '913, based on the steering torque and the motor speed, suitable stability (suitable vehicle movement characteristics) of the whole vehicles is realized by preventing the steering feeling of the driver from being spoiled when turning and returning the steering wheel, by generating the assist compensation quantity differently when turning the steering wheel and returning the steering wheel different, and modifying the base assist torque by the assist compensation quantity.
Various technologies for securing operation stability appropriately are proposed, and a torque modifying technology for aiming for a reduction of frequent correction operation and operating duty mitigation by realizing vehicle movement suitable for the intention of the driver is disclosed in Japanese Patent Application Laid-Open Publication No. 2007-22373, for example.
With the technology, a vehicle movement state is estimated based on a sum of the base assist torque and the steering torque, and a quantity of torque modifying the base assist torque is generated so that the characteristics become the desired ones.
Then, in order to reconcile a realization of the characteristics of the steering reaction according to the road surface reaction and a realization of the suitable operation stability (suitable vehicle movement characteristics) as the whole vehicles, it is considered to try the combination of the technologies disclosed in the above-mentioned publications '089 and '913, for example.
Specifically, a control mechanism as shown in FIG. 14 can be built.
In the control mechanism shown in FIG. 14, a current feedback (FB) section 142, gives an assist steering force according to an assist torque command Ta to a steering shaft by driving a motor 110 by applying a drive voltage Vd according to an assist torque command Ta inputted to the motor 110.
In a controlled object (steering system mechanism) 100 from the steering shaft to wheels, a motor speed ω that is a revolving speed of the motor 110 and a steering torque Ts are detected.
The current FB section 142 detects a current that flows into the motor 110 (motor current Im) and performs a current feedback (FB) control so that the value of the current becomes a target current (value matching the assist torque command Ta).
Then, based on the detected motor current Im and the steering torque Ts, a force estimator 121 estimates a road surface force (road surface reaction), and generates an estimated force Tx as an estimated value.
Then, a base assist section 120 generates a base assist command Tb* based on the estimated force Tx.
The base assist section 120 specifically has a target generating section 122 that generates a target steering torque Ts* based on the estimated force Tx, a deviation computer 123 that computes the difference (torque deviation) between the steering torque Ts and the target steering torque Ts*, and a controller 124 that generates a base assist command Tb* for controlling the motor 110 (that is, a torque feedback control is performed) based on the torque deviation so that the steering torque Ts matches the target steering torque Ts*.
Thus, by controlling the motor 110 by the obtained base assist command Tb*, realization of the characteristics of the steering reaction according to the road surface reaction becomes possible.
That is, the target generating section 122 configures the target steering torque Ts* according to the road surface force relative to the road surface reaction that the force estimator 121 estimated.
Then, the driver can feel the response according to the road surface force because the controller 124 performs the torque feedback control so that the actual steering torque Ts becomes the target steering torque Ts*.
On the other hand, a modifying section 130 has a torque modifying section 131 that generates a torque modifying command Tr based on the steering torque Ts and the motor speed ω, and realizes the convergence control.
A specific composition and function of the torque modifying section 131 are the same as that of a controller disclosed in the publication '913 mentioned above.
Therefore, by modifying the base assist command Tb* by the torque modifying command Tr obtained in the modifying section 130 (here, both are added with an adder 141), and if the modifying result as the assist torque command Ta is given the current FB section 142, realizing the suitable operation stability (suitable vehicle movement characteristics) as the whole vehicle becomes possible for the time being.
However, at least one big problem exists in the control mechanism shown in FIG. 14.
The problem is that the base assist section 120 cancels the modifying operation by the modifying section 130.
That is, in the control mechanism shown in FIG. 14, force estimation with the force estimator 121 is performed based on the motor current Im finally supplied to the motor.
The motor current Im responds to the assist torque command Ta that is modified by the torque modifying command Tr that the modifying section 130 generated to the base assist command Tb* that the base assist section 120 generated.
That is, the force estimator 121 estimates the road surface force using the motor current Im as a result modified by the modifying section 130.
In other words, when steering a steering wheel sharply, for example, the base assist command Tb* is modified so that the assist steering power decreases by the convergence control in the modifying section 130.
Then, the motor current Im falls for the amount of the modification, and thereby, the force estimated value (estimated force Tx) by the force estimator 121 also falls.
Then if the estimated force Tx falls, the target steering torque Ts* also falls, and by this, the controls base assist command Tb* increases, i.e., the assist steering power is controlled in a tendency of increasing so that the steering torque becomes small.
That is, even though the torque modifying command Tr is generated convergence control by the modifying section 130 in order to reduce the assist steering power, the assist steering power is controlled conversely in a tendency of increasing by the base assist section 120.
As a result, the convergence control by the modifying section 130 is not reflected (convergence control is canceled by the base assist section 120).
Thus, with the control composition shown in FIG. 14, it is incompatible in a realization of the characteristics of the steering reaction according to the road surface reaction, and in a realization of the suitable operation stability (suitable vehicle movement characteristics) as the whole vehicles.
Therefore, it is difficult to raise a running performance of the vehicle, i.e., it is difficult to enable the driver to drive the vehicle intuitively, and feels reliable to operate the vehicle.