Abstract: A soft magnetic alloy includes a main component of (Fe(1?(?+?))X1?X2?)(1?(a+b+c+d+e))MaBbPcSidCe. X1 is one or more of Co and Ni. X2 is one or more of Al, Mn, Ag, Zn, Sn, As, Sb, Cu, Cr, Bi, N, O, and rare earth elements. M is one or more of Nb, Hf, Zr, Ta, Mo, W, and V. 0.020?a?0.14 is satisfied. 0.020<b?0.20 is satisfied. 0?d?0.060 is satisfied. ??0 is satisfied. ??0 is satisfied. 0??+??0.50 is satisfied. c and e are within a predetermined range. The soft magnetic alloy has a nanohetero structure or a structure of Fe based nanocrystallines.

Abstract: The location of an aperture surrounded by a region of different brightness on a plane surface is achieved by line scanning the surface with an optical scanner while shifting the line position stepwise in an orthogonal direction. A change in brightness as the scanner passes between the region and aperture creates in the scanning signals, a pulse indication of the aperture position. Signals for a progressively changing group of successive scanning lines large enough in number to span a given aperture on either side in the orthogonal direction and include a signal for at least one line intersecting the aperture; i.e., three or more consecutive lines, are synchronously compared by time delaying the earlier signals to coincide with the real time signal. The coincidence of one or more line signals indicative of an aperture directly preceded and followed by a line signal free of an aperture indication signifies the presence of an aperture.

Abstract: An end position control robot constituted by a compound robot comprising a weight control apparatus a weight control robot having a link arm robot and a position control apparatus of a position control robot, both the apparatus being mechanically associated. The weight control apparatus is constructed so as to bear vertical load to control a vertical position and the position control apparatus is constructed in such a manner that a working end portion of the weight control apparatus is moved in a horizontal direction to carry out positioning, which leads to a precise positioning of the end portion of the arm in the case of load being transferred.

Abstract: A robot arrangement adapted to carry a load such as an article, a tool or a cargo to a specified position includes a main robot capable of active movement of the load in rectilinear directions and passive movement in directions parallel to a plane perpendicular to the rectilinear directions, and at least one sub robot capable of active movement of the load in directions parallel to the plane. A flexible connection allows passive movement of the load with respect to the sub robot in the rectilinear directions.