Abstract: A signal receiving apparatus 2 has a memory circuit 22, writing of data contained in a digital input signal transmitted from a signal transmitting apparatus 1 is performed using a clock signal separated and created by a PLL circuit 21 from the digital input signal received, and reading is performed using a reference clock signal with quartz accuracy from a reference clock generating circuit 24. To reproduce the digital input signal by correcting the shift between the clock signal and the reference clock signal, the signal receiving apparatus detects the shift between the two clock signals. When the signal receiving apparatus 2 side lags behind the signal transmitting apparatus 1, the data contained in the digital input signal undergoes thinning out, and when it leads, a signal generated from previous and subsequent digital input signal is interpolated.

Abstract: An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.

Abstract: To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.

Abstract: A signal processing circuit has two types of filters: an IIR filter 11 and an FIR filter 12 having an equivalent transfer function at all times. In an adjustment mode in which the signal processing circuit is adjusted to have an arbitrary transfer function, the signal processing circuit makes a configuration setting to use the IIR filter 11. When completing the adjustment or in a signal processing mode, the signal processing circuit makes a configuration setting change to switch to the FIR filter 12 having the equivalent transfer function.

Abstract: A signal receiving apparatus 2 has a memory circuit 22, writing of data contained in a digital input signal transmitted from a signal transmitting apparatus 1 is performed using a clock signal separated and created by a PLL circuit 21 from the digital input signal received, and reading is performed using a reference clock signal with quartz accuracy from a reference clock generating circuit 24. To reproduce the digital input signal by correcting the shift between the clock signal and the reference clock signal, the signal receiving apparatus detects the shift between the two clock signals. When the signal receiving apparatus 2 side lags behind the signal transmitting apparatus 1, the data contained in the digital input signal undergoes thinning out, and when it leads, a signal generated from previous and subsequent digital input signal is interpolated.

Abstract: To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.

Abstract: A method of separating and recovering 18F from 18O water at high purity and efficiency while maintaining the purity of the 18O water. By using a solid electrode (1) as an anode and a container (electrodeposition vessel) (2) made of platinum as a cathode, 18F in a solution (4) is electrodeposited on the solid electrode surface by applying a voltage. Then, by using the solid electrode (1) on which 18F is electrodeposited as a cathode and a container (recovery vessel) (5) holding pure water therein as an anode, 18F is recovered in the pure water by applying a voltage of opposite polarity to that of the electrodeposition. In this process, little 18O water is lost. The initial concentration of the 18O water is maintained even after the electrodeposition of 18F, so that the 18O water can be repeatedly used as an irradiation target for production of 18F.

Abstract: A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame.

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract: A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame.

Abstract: A method of separating and recovering 18F from 18O water at high purity and efficiency while maintaining the purity of the 18O water. By using a solid electrode (1) as an anode and a container (electrodeposition vessel) (2) made of platinum as a cathode, 18F in a solution (4) is electrodeposited on the solid electrode surface by applying a voltage. Then, by using the solid electrode (1) on which 18F is electrodeposited as a cathode and a container (recovery vessel) (5) holding pure water therein as an anode, 18F is recovered in the pure water by applying a voltage of opposite polarity to that of the electrodeposition. In this process, little 18O water is lost. The initial concentration of the 18O water is maintained even after the electrodeposition of 18F, so that the 18O water can be repeatedly used as an irradiation target for production of 18F.