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    1.
    发明专利
    未知

    公开(公告)号：DE69816154T2

    公开(公告)日：2004-06-09

    申请号：DE69816154

    申请日：1998-02-02

    Applicant: IBM

    Inventor： KAWACHIYA KIYOKUNI ,  ISHIKAWA HIROSHI

    IPC: G06F3/038 ,  G05G9/047

    Abstract: A pointing device comprising a stick (1), a vector detection mechanism (3,11) placed away from the stick by a predetermined distance so as to turn around the longitudinal axis of the stick, for outputting a signal corresponding to a force vector of a force applied by the stick when the stick (1) contacts with the mechanism, and a detector (9) for detecting a force applied in the longitudinal direction of the stick (1). In response to a signal output from the vector detection mechanism, it is judged whether an evaluation value of the force vector satisfies a predetermined condition. When the evaluation value of the force vector satisfies the predetermined condition, execution of a first kind of manipulation according to the evaluation value is instructed. When the evaluation value does not satisfy the predetermined condition, execution of a second kind of manipulation is instructed.

    2.
    发明专利
    未知

    公开(公告)号：DE69315382D1

    公开(公告)日：1998-01-08

    申请号：DE69315382

    申请日：1993-06-21

    Applicant: IBM

    Inventor： SONE HIRONAO ,  SEKIYA KAZUO ,  ISHIKAWA HIROSHI ,  KANEDA YOSHIHISA

    IPC: G06F13/368 ,  G06F13/36 ,  G06F13/40

    Abstract: To enable the expansion, by way of a channel different from the bus signal lines, of the bus, of a computer system in which each local arbiter is supposed to output its own priority as the right to use the bus on a common arbitration bus through open-collector-type drivers to determine a winner in arbitration. Certain representation features (73, 79) having the functions of a local arbiter that represent the arbitration level of the other bus are provided in both a primary system and a secondary system linked via a channel in a signal transmission mode different from the signal transmission mode of the bus. Arbitration is first conducted on each of the buses of the primary and secondary system to determine winners in arbitration. Notification of the arbitration level of each winner is made through a channel to the representation feature on the other bus. After this notification, arbitration is conducted once again between a winner in arbitration on each bus and the representation feature representing the arbitration level of the other bus to determine a final winner.

    SYSTEM INCLUDING MOBILE RADIO STATION AND BASE RADIO STATION
    3.
    发明专利
    SYSTEM INCLUDING MOBILE RADIO STATION AND BASE RADIO STATION 未知

    公开(公告)号：CA2206318A1

    公开(公告)日：1996-08-01

    申请号：CA2206318

    申请日：1995-10-12

    Applicant: IBM

    Inventor： KANADA YOSHIHISA ,  ISHIKAWA HIROSHI

    IPC: H04B7/005 ,  H04L12/28 ,  H04Q7/22 ,  H04Q7/30 ,  H04Q7/32

    Abstract: A mobile station which wants to start communication with a base station transmits a communication slot assignment request to the base station at a sufficiently low transmission speed at which no transversal filter is required. The base station assigns a communication slot and transmits the information regarding the communication slot assignment to the mobile station at a sufficiently low transmission speed at which no transversal filter is required. Upon receiving the information, the mobile station transmits a training sequence to the base station at a high speed by using the assigned communication slot. The base station calculates the optimum tap coefficient in a transversal filter from the training sequence held by the base station itself and from the actually received signals by means of an adaptive equalizing mechanism and transmits the optimum tap coefficient to the mobile station at a sufficiently low transmission speed at which no transversal filter is required. The base station sets the tap coefficient in the transversal filter and starts high-speed communication with the base station.

    5.
    发明专利
    未知

    公开(公告)号：DE69816154D1

    公开(公告)日：2003-08-14

    申请号：DE69816154

    申请日：1998-02-02

    Applicant: IBM

    Inventor： KAWACHIYA KIYOKUNI ,  ISHIKAWA HIROSHI

    IPC: G06F3/038 ,  G05G9/047

    Abstract: A pointing device comprising a stick (1), a vector detection mechanism (3,11) placed away from the stick by a predetermined distance so as to turn around the longitudinal axis of the stick, for outputting a signal corresponding to a force vector of a force applied by the stick when the stick (1) contacts with the mechanism, and a detector (9) for detecting a force applied in the longitudinal direction of the stick (1). In response to a signal output from the vector detection mechanism, it is judged whether an evaluation value of the force vector satisfies a predetermined condition. When the evaluation value of the force vector satisfies the predetermined condition, execution of a first kind of manipulation according to the evaluation value is instructed. When the evaluation value does not satisfy the predetermined condition, execution of a second kind of manipulation is instructed.

    METHOD FOR COMPLIANCE CONTROL
    10.
    发明专利
    METHOD FOR COMPLIANCE CONTROL 未知

    公开(公告)号：CA1325465C

    公开(公告)日：1993-12-21

    申请号：CA592551

    申请日：1989-03-02

    Applicant: IBM

    Inventor： ISHIKAWA HIROSHI ,  SAWADA CHIHIRO

    IPC: B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05D3/12

    Abstract: METHOD FOR COMPLIANCE CONTROL In a method of effecting compliance control over an object subjected to a force, such as in the case of a servo-operated robot manipulator device, parameters are established for compliance and values set for balance of compliance. Positions taken up by the object in response to a detected external force are determined by integrating an equation of motion. Trajectory is calculated in a joint coordinate system with universe kinematics; and from this, velocity and acceleration are obtained. Using this method allows compliance to be specified in any desired Cartesian coordinate system in a form of second-order perturbation including not only stiffness but also damping.

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