Abstract: An endoscope including a bending operation apparatus including a bending operation mechanism section and a bending portion braking mechanism section in an operation section, the bending operation mechanism section includes a bending lever, a first bearing member transmitting a force of the lever, and a cylindrical member rotated with an operation of the lever, and the bending portion braking mechanism section includes a bending state keeping lever, a braking shaft body transmitting a force of the lever, a second bearing member pivotally supporting the braking shaft body, a rotation pressing member rotating around an axis of the second bearing member, and having inclined projection portions, a slide pressing member having inclined projection portions opposed to the projection portions, a friction member abutting on the cylindrical member, a regulation member regulating a gap where the friction member is disposed, and positioning members regulating a braking force of the friction.

Abstract: An aliphatic polyester resin having excellent moldability and its production method are provided. When the amount of specific structural units contained in an aliphatic polyester resin is adjusted to an optimum amount, an aliphatic polyester resin having sufficient melt tension at the time of molding and excellent moldability than in the past and its production method is provided.

Abstract: A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.

Abstract: A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

Abstract: A method of operating a substrate processing apparatus, upon the occurrence of a nonfatal failure in the apparatus, makes it possible to continue part of the apparatus operations for substrates to clean and recover a substrate or to easily discharge a substrate from the apparatus, without stopping an entire apparatus, thereby reducing the risk of a substrate becoming unprocessable. The method of operating a substrate processing apparatus having a polishing section, a cleaning section and a transferring mechanism, includes: classifying substrates, upon detection of a malfunction in any of the polishing section, the cleaning section and the transferring mechanism, according to the site of the malfunction and to the positions of the substrates in the substrate processing apparatus; and carrying out an operation for each of the substrates after the detection of the malfunction, the operation varying depending on the classification of the substrate.

Abstract: The present invention relates to a substrate processing apparatus which can improve a tact time of substrate processing. A polishing apparatus as the substrate processing apparatus includes plural polishing sections each for polishing a semiconductor wafer (W), and a swing transporter for transferring the wafer (W). The swing transporter includes a wafer clamp mechanism adapted to clamp the wafer (W), a vertically moving mechanism for vertically moving the wafer clamp mechanism along a frame of a casing of the polishing section, and a swing mechanism for swinging the wafer clamp mechanism about a shaft adjacent to the frame.

Abstract: An information processing apparatus includes a document information storage unit, a progress information identification unit and a progress information storage unit. The document information storage unit stores identification information of a paper document associated with an operation item defined for a case. The progress information identification unit obtains progress information indicating a progress of the operation item based on the paper document identified by the identification information associated with the operation item. The progress information storage unit stores the progress information obtained by the progress information identification unit associated with the operation item.

Abstract: A method of operating a substrate processing apparatus, upon the occurrence of a nonfatal failure in the apparatus, makes it possible to continue part of the apparatus operations for substrates to clean and recover a substrate or to easily discharge a substrate from the apparatus, without stopping an entire apparatus, thereby reducing the risk of a substrate becoming unprocessable. The method of operating a substrate processing apparatus having a polishing section, a cleaning section and a transferring mechanism, includes: classifying substrates, upon detection of a malfunction in any of the polishing section, the cleaning section and the transferring mechanism, according to the site of the malfunction and to the positions of the substrates in the substrate processing apparatus; and carrying out an operation for each of the substrates after the detection of the malfunction, the operation varying depending on the classification of the substrate.

Abstract: A substrate holding rotating mechanism is used to hold and rotate a substrate to be processed. The substrate holding rotating mechanism according to the present invention includes at least three spindles, clamp rollers mounted respectively on the spindles for holding a periphery of a substrate, a rotating device for rotating at least one of the clamp rollers, at least one base member on which at least one of the spindles is installed, and a rotational mechanism adapted to allow the base member to be rotatable.

Abstract: An object of the present invention is to provide a resin composition improved in film formability and/or mechanical property, particularly tensile elastic modulus or tearing strength, of the film. The present invention provides a resin composition including at least (A) an aliphatic polyester-based resin and (C) a starch, the aliphatic polyester-based resin (A) forming a matrix phase and the starch (C) forming a dispersed phase, wherein the average particle diameter of the dispersed phase is 1 ?m or less.

Abstract: In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.

Abstract: A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture.

Abstract: An arbitrary node that belongs to a virtual LAN sends a request packet including a count value indicating the number of communication hops across nodes to each of its adjacent nodes that belong to the virtual LAN and are adjacent. Upon receiving the request packet, each of the adjacent nodes sends the request packet in which the count value is incremented or decremented to each of its adjacent nodes that belong to the virtual LAN and are adjacent to the node, excluding a sender of the request packet received, and sends a reply packet including the sender's address, an address of the node that is a replying node, and the count value to a given return destination. The return destination collects reply packets sent thereto and keeps track of the topology of the nodes constituting the virtual LAN from information contained in the reply packets.

Abstract: A substrate holding rotating mechanism is used to hold and rotate a substrate to be processed. The substrate holding rotating mechanism according to the present invention includes at least three spindles, clamp rollers mounted respectively on the spindles for holding a periphery of a substrate, a rotating device for rotating at least one of the clamp rollers, at least one base member on which at least one of the spindles is installed, and a rotational mechanism adapted to allow the base member to be rotatable.

Abstract: A substrate holding rotating mechanism is used to hold and rotate a substrate to be processed. The substrate holding rotating mechanism according to the present invention includes at least three spindles, clamp rollers mounted respectively on the spindles for holding a periphery of a substrate, a rotating device for rotating at least one of the clamp rollers, at least one base member on which at least one of the spindles is installed, and a rotational mechanism adapted to allow the base member to be rotatable.

Abstract: A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

Abstract: A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.

Abstract: A production planning system creates executable an production plan for a production workplace while adjusting production capacity giving consideration to a period where production capacity is fixed in each workplace, a period where management of workers between workplaces is possible, and a period where it is not necessary to consider production capacity because of new employment of workers.

Abstract: An aliphatic polyester resin having excellent moldability and its production method are provided. When the amount of specific structural units contained in an aliphatic polyester resin is adjusted to an optimum amount, an aliphatic polyester resin having sufficient melt tension at the time of molding and excellent moldability than in the past and its production method is provided.