A preload inspection method for a bearing device for a vehicle wheel comprises: a first bearing preload value calculation step for calculating a first bearing preload value; a first rotating torque measurement step for measuring a first rotating torque; a caulking step for swaging the small-diameter stepped part to the inner ring; a second bearing preload value calculation step for calculating a second bearing preload value; a second rotational torque measurement step for measuring a second rotational torque; a third bearing preload value calculation step for calculating a third bearing preload value by adding, to the first bearing preload value, a preload change amount based on a differential torque between the first rotating torque and the second rotating torque; and a determination step for determining the suitability of the preload from the second bearing preload value and the third bearing preload value.

A preload inspection method for a bearing device for a vehicle wheel comprises: a first bearing preload value calculation step for calculating a first bearing preload value; a first rotating torque measurement step for measuring a first rotating torque; a caulking step for swaging the small-diameter stepped part to the inner ring; a second bearing preload value calculation step for calculating a second bearing preload value; a second rotational torque measurement step for measuring a second rotational torque; a third bearing preload value calculation step for calculating a third bearing preload value by adding, to the first bearing preload value, a preload change amount based on a differential torque between the first rotating torque and the second rotating torque; and a determination step for determining the suitability of the preload from the second bearing preload value and the third bearing preload value.

Methods and apparatus for identifying downhole dynamics in a drilling system are provided. Acceleration-detecting sensors are mounted at multiple locations near to a drill bit, such as at a drill collar. The sensors may be spaced 90° apart along a circumference of the drill collar. The sensors detect acceleration measurements in a plane orthogonal to the drill string's axis of rotation, with respect to a first reference frame that moves with the drill string. The acceleration measurements are received by a processor and processed to determine rotational and revolution positions of the drill string within the wellbore with respect to a static reference frame. Whirl dynamics may, in particular, be determined based on the results in real time.

For estimating motor torque and velocity, a method estimates a velocity profile for a motor based on line-to-line voltages and phase currents for the motor. The velocity profile is estimated without a position input and a velocity input. The method further estimates a torque profile for the motor based on the line-to-line voltages, the phase currents, and a time interval of the velocity profile of motor velocities greater than a velocity threshold, and wherein the motor is operating over the time interval.

For estimating motor torque and velocity, a method estimates a velocity profile for a motor based on line-to-line voltages and phase currents for the motor. The velocity profile is estimated without a position input and a velocity input. The method further estimates a torque profile for the motor based on the line-to-line voltages, the phase currents, and a time interval of the velocity profile of motor velocities greater than a velocity threshold, and wherein the motor is operating over the time interval.

In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit Δ for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal η by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal from the fluctuation unit Δ and an output signal from the nominal value multiplication unit. Further, the fluctuation unit Δ generates the fluctuation output signal using a mapping Δp obtained from a Cayley transform of unbounded complex fluctuation Δg.

In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit Δ for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal η by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal from the fluctuation unit Δ and an output signal from the nominal value multiplication unit. Further, the fluctuation unit Δ generates the fluctuation output signal using a mapping Δp obtained from a Cayley transform of unbounded complex fluctuation Δg.

A surgical system includes a power tool that generates torque; a torque sensor for measuring a torque characteristic of the power tool; a user interface; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive torque data from the torque sensor, the torque data corresponding to the measured torque characteristic; evaluate the torque data; and execute a predetermined action based on the evaluation.

A surgical system includes a power tool that generates torque; a torque sensor for measuring a torque characteristic of the power tool; a user interface; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive torque data from the torque sensor, the torque data corresponding to the measured torque characteristic; evaluate the torque data; and execute a predetermined action based on the evaluation.

In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit Δ for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal η by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal ξ from the fluctuation unit Δ and an output signal from the nominal value multiplication unit. Further, the fluctuation unit Δ generates the fluctuation output signal ξ using a mapping Δp obtained from a Cayley transform of unbounded complex fluctuation Δg.