Abstract: An actuator system that picks up workpieces aims to shorten tact time and to reduce damages to workpieces. The actuator system includes an actuator that picks up a workpiece, an external force detection sensor that detects a physical quantity that is correlated with an external force that is applied to the workpiece, a head unit that is connected to the actuator and the external force detection sensor without a communication network, the head unit being configured to control the actuator based on a sensing result from the external force detection sensor when a pickup request signal that is a signal requesting pickup of the workpiece is received, and a control device that is connected to the head unit over the communication network, the control device being configured to transmit the pickup request signal to the head unit.

Abstract: The present invention provides an agent for treating textile having a combination of a modifying agent and a fixing agent, wherein the modifying agent is a fluorine-containing phosphoric acid derivative represented by the formula wherein R.sup.1 and R.sup.2 are, same or different, a hydrogen atom or R.sub.f --(CH).sub.2).sub.m -- (wherein R.sub.f is a saturated or unsaturated, linear or branched fluorine containing aliphatic group having 4 to 20 carbon atoms in which an oxygen atom, a nitrogen atom, a sulfonyl group and/or an aromatic ring may intervene between the carbon atoms; and m is 1 or 2) (R.sup.1 and R.sup.