Abstract: A charging system for a walking robot which charges a battery mounted on the walking robot by connecting a power supplying connector provided in a charging station to a power receiving connector in the walking robot, wherein the walking robot is capable of moving without significant restrictions during charging. The charging system includes a lock mechanism for locking the power supplying connector to the power receiving connector. A connector holder holds the power supplying connector detachably, an advancing/retracting mechanism advances and retracts the connector holder in the anteroposterior direction, and a lock operation mechanism performs a lock operation and an unlock operation of the lock mechanism via the connector holder. After an advance of the connector holder, the lock mechanism performs the lock operation to lock the power supplying connector to the power receiving connector. Thereafter, the connector holder is retracted out of the power supplying connector.

Abstract: Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.

Abstract: A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.

Abstract: An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.

Abstract: For controlling operation of a vehicle-mounted fuel cell stack, a determination is made as to whether consumed electric power, measured during travel of a vehicle, is greater than standard electric power. If so, a generated electric power amount (output) of a fuel cell stack is judged to be great, in which case not only a fan is activated for rotation but also an air allocation mechanism is operated in an opening direction. In an alternative, information of a traveling velocity is also taken into account. Namely, when the fuel cell stack is operated in a vehicle traveling state where the vehicle's traveling velocity does not increase despite an increase in the electric power output from the cell stack, not only the fan is activated for rotation but also the air allocation mechanism is operated in the opening direction, so that a cooling-air flow amount can be increased.

Abstract: A robot, capable of appropriately adjusting position and/or posture on a current spot to execute a designated task involving interaction with a target object. The Robot is configured to enable adjustment of the position and/or posture by controlling movement of at least a hip joint mechanism, and a knee joint mechanism in the spot while the robot is allowing each foot to keep its floor-arriving state. Accordingly, when the position and/or posture is inappropriate to execute the designated task while the robot is at a standstill in a second designated area for executing the designated task, the robot can execute the designated task after the position and/or posture has been corrected in the second designated area.

Abstract: A charging apparatus for a mobile robot enabling the mobile robot to move relatively freely even during charging using a wiring member, while preventing occurrence of an inconvenience such as damage to the wiring member, is provided. The charging apparatus includes a charging power source, a control board which controls the charging power source, and a wiring members for use in supplying electric power from the charging power source to a battery mounted on the mobile robot. The wiring member connected to the mobile robot to follow the movement of the robot. The charging apparatus further includes a detector which detects tension applied to the wiring member. When the wiring members is pulled, an appropriate measure to stop the mobile robot or disconnect the wiring member from the robot is taken in accordance with a signal from the tension detector.

Abstract: A charging system for a walking robot which charges a battery mounted on the walking robot by connecting a power supplying connector provided in a charging station to a power receiving connector in the walking robot, wherein the walking robot is capable of moving without significant restrictions during charging. The charging system includes a lock mechanism for locking the power supplying connector to the power receiving connector. A connector holder holds the power supplying connector detachably, an advancing/retracting mechanism advances and retracts the connector holder in the anteroposterior direction, and a lock operation mechanism performs a lock operation and an unlock operation of the lock mechanism via the connector holder. After an advance of the connector holder, the lock mechanism performs the lock operation to lock the power supplying connector to the power receiving connector. Thereafter, the connector holder is retracted out of the power supplying connector.

Abstract: Embodiments of the present invention help to prevent a head characteristic from being deteriorated by re-deposition or damage which occurs when a sensor film is etched, a track width is narrowed, and the head characteristic is stabilized. According to one embodiment, when it is assumed that the thickness of the sensor film on an air bearing surface is T, and a distance between an end of a medium layer that is interposed between a free layer and a pinned layer which comprise the sensor film and an end of the sensor film lowest portion, a relationship of 1.2×T?x?2.5×T is satisfied, and the ends of a pair of magnetic films which are in contact with both sides in the track-width direction through an insulator do not exist in the track central portion from the free layer end.

Abstract: Vehicle-mounted fuel cell stack includes one or more cooling cells and an air allocation mechanism. Via the allocation mechanism, air flowing in a front-to-rear direction of the vehicle is introduced through reacting-air introduction openings of power generating cells and also introduced through cooling-air introduction openings of the cooling cells, so that the power generating cells can be cooled by the cooling cells. Sliding movement of the air allocation mechanism can allocate the cooling air and reacting air in desired amounts, so that it is possible to not only appropriately deal with an increase in the power generation amount but also appropriately remove excessive heat. Because the cooling cells are each constructed of thin metal plates, they can effectively remove a great amount of heat produced from power generating cells, with an enhanced efficiency.

Abstract: Temperature of power generating cells is measured, and, if the measured temperature is lower than a preset standard operating temperature, control is performed for zeroing an allocated amount of cooling air via an air allocation mechanism. During a startup period, cooling-air introduction openings are closed with reacting-air introduction openings kept open and an air-sucking-in fan activated. Thus, the entire amount of introduced air is caused to flow through the reacting-air introduction openings into the cells for reaction with hydrogen with a minimized cooling effect so that the power generation reaction can be promoted, which can reduce a time necessary for the cell temperature to increase up to a predetermined operating level. By constantly performing the control for zeroing the allocated amount of cooling air during the startup and subsequent periods, the power generating cell temperature is constantly allowed to rise readily as desired.

Abstract: Making thinner the magnetic domain control layer deteriorates the magnetic properties. Also, disturbances tend to increase the magnetization dispersion of the magnetic domain control layer, thereby lowering the magnetic domain control bias magnetic field. In one embodiment of the invention, a first magnetic domain control layer is provided in the proximity of the free layer of the GMR sensor in such a way that the track width is Twr1. Outside the first magnetic domain control layer is provided a second magnetic domain control layer. The second magnetic domain control layer placed outside the first magnetic domain control layer gives the first magnetic domain control layer an external bias field. The amount of magnetization of the tip of the first magnetic domain control layer is polarized and increased by the bias magnetic field from the second magnetic domain control layer.

Abstract: An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.

Abstract: Embodiments of the present invention help to efficiently apply a longitudinal biasing with appropriate strength from a longitudinal biasing layer to a free layer even in a small read gap length. According to one embodiment, in the track width direction of the magnetoresistive film, the longitudinal biasing layer excluding its portion close to the magnetoresistive film is made approximately uniform in thickness. An edge toward the magnetoresistive film of the longitudinal biasing layer is positioned more outwardly in the track width direction than an edge in the track width direction of the free layer. A portion closest to the substrate of the interface between the longitudinal biasing layer and the insulator on the track-width sides is positioned lower than the interface between the magnetoresistive film and the lower magnetic shield layer.

Abstract: A fuel cell stack includes a first separator and a second separator. A reactant air flow channel is formed on one surface of the second separator. A fuel gas flow channel is formed on one surface of the first separator. Further, a coolant air flow channel is formed on the first separator, on the other surface opposite to the fuel gas flow channel. The reactant air flow channel is connected between a reactant air inlet and a reactant air outlet. A coolant air flow channel is connected between a coolant air inlet and a coolant air outlet. The reactant air flow channel and the coolant air flow channel are configured such that the pressure loss of the reactant air between the reactant air inlet and the reactant air outlet and the pressure loss of the coolant air between the coolant air inlet and the coolant air outlet are substantially the same.

Abstract: A spark plug having a combustion pressure detecting function, including a tip end portion in an axial direction of the spark plug capable of generating a spark discharge, a male thread adapted for attaching the spark plug to an internal combustion engine and a metal shell including, at a rear end side of the male thread, a brim portion projecting perpendicularly to the axial direction; an annular, flat gasket provided on a tip side of the brim portion; and a pressure sensor including a pressure-sensitive element, wherein the gasket has a Young's modulus E (kN/mm2) satisfying a relationship, 100?E?170.

Abstract: A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.

Abstract: A stack of a polymer electrolyte fuel cell is immersed in a stack container case, in a liquid coolant such as an organic solvent, and the stack is operated in this state. The stack whose temperature has risen by heat energy produced by the operation is cooled by the liquid coolant. The liquid coolant which has cooled the stack vaporizes, and is condensed by a condenser. Then, the liquid coolant returns to the stack container. The condenser is cooled when the outside air is supplied into supply louvers, and contacts the condenser. The outside air is efficiently discharged by exhaust fans through exhaust louvers.

Abstract: A stack of a polymer electrolyte fuel cell is immersed, in a stack container case, in a liquid coolant such as an organic solvent, and the stack is operated in this state. The stack whose temperature has risen by heat energy produced by the operation is cooled by the liquid coolant. The liquid coolant which has cooled the stack vaporizes, and is condensed by a condenser. Then, the liquid coolant returns to the stack container case.

Abstract: A magnetic domain control underlayer is formed below a magnetoresistive multi-layered film thereby bringing the magnetic domain control film into contact with both lateral end faces of a free layer and appropriate magnetic domain control can be attained in a state of minimizing a surplus bias magnetic field from the magnetic domain control film.