Abstract: When a shield tunneling machine is deviated from the scheduled line while being propelled, the deviation of the shield tunneling machine from the scheduled line is detected and according to the data obtained on the deviation of the shield tunneling machine from the scheduled line, the propelling direction of the shield tunneling machine is automatically controlled.

Abstract: A method and apparatus for controlling a travelling body having a main body and a steering device along a predetermined route includes a plate-shaped indicator disposed perpendicular to an axis of the main body, an optical pointer emitting light of a first color showing the steering direction of the steering device, a laser beam illuminating the indicator with a laser beam spot of a second color, a TV camera monitoring the optical pointer and the laser beam spot on the indicator, a color separator separating image information of the optical pointer and the laser beam spot, an image processing unit computing position data of the optical pointer and the laser beam spot for outputting steering direction information and optical pointer position information, a fuzzy operation unit processing a steering command using the optical pointer position information, and comparator computing a controlling command for operating the steering device by calculating the difference between the steering command and the steering di

Abstract: The pet food of the present invention contains lactosucrose which is substantially uniformly mixed in a meal in a range of 0.025 to 3.0% by weight on a dry basis. Lactosucrose keeps intestines of the pets in order, and provides a good taste and a great effect on deodorizing feces and urine discharged by the pets.