Abstract: An electrophotographic photosensitive member comprises a charge-transporting layer which is a surface layer of the electrophotographic photosensitive member; wherein the charge-transporting layer has a matrix-domain structure having: a matrix comprising a component [?] and a component [?] (charge-transporting substances having specific structures), and a domain comprising a component [?](resin [?1], or resin [?1] and resin [?2]).

Abstract: Provided is an electrophotographic photosensitive member, including: a support; and a photosensitive layer, which is provided on the support, in which: a surface layer of the electrophotographic photosensitive member includes a terminal siloxane-containing polyester resin having a specific structure; and a lower layer provided in contact with the surface layer includes a polycarbonate resin, a polyester resin, or a polyvinyl acetal resin, having a specific structure.

Abstract: An electrophotographic photosensitive member comprises a charge-transporting layer which is a surface layer of the electrophotographic photosensitive member; wherein the charge-transporting layer has a matrix-domain structure having: a matrix comprising: at least one resin selected from the group consisting of a polycarbonate resin C and a polyester resin D; and at least one charge-transporting substance selected from the group consisting of a compound represented by the following formula (1) and a compound represented by the following formula (1?), and a domain comprising a polycarbonate resin A.

Abstract: The present invention is an electrophotographic photosensitive member including a charge-transporting layer as the surface layer of the electrophotographic photosensitive member having a matrix-domain structure including: a matrix including a component ? (at least one resin of a polycarbonate resin C having a specific repeating structural unit and a polyester resin D having a specific repeating structural unit), and ? (charge-transporting substance having a specific structure); and a domain including a component ? (polycarbonate resin A having a repeating structural unit containing a specific siloxane moiety).

Abstract: Provided is an electrophotographic photosensitive member which is excellent in terms of both continuous reduction of contact stress with contact members and the like and potential stability during repeated use. A charge transport layer which serves as a surface layer of an electrophotographic photosensitive member has a matrix-domain structure including a matrix containing a component [?] (polycarbonate resin D having a specific repeating structural unit) and a charge-transporting substance and domains containing a component [?] (polycarbonate resin A having a repeating structural unit including a specific siloxane moiety).

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: In a robot control apparatus mounted on a mobile robot, movement of a human existing in front of the robot is detected, and the robot is moved in association with the movement of the human to thereby obtain path teaching data. When the robot moves autonomously according to the path teaching data, a robot movable area with respect to the path teaching data is calculated from positions of the ceiling and walls of the robot moving space or positions of obstacles detected by a surrounding object detection unit, whereby a moving path for autonomous movement is generated. The robot is controlled to move autonomously by a drive of a drive unit according to the moving path for autonomous movement.

Abstract: An electrophotographic photosensitive member has a surface having a plurality of depressed portions, having a major-axis diameter Rpc of 0.1 to 10 ?m, a minor-axis diameter Lpc of 0.1 to 10 ?m and a deepest-part to opening distance Rdv of 0.1 to 10 ?m. Where the surface is equally divided into 4 regions in the rotational direction, which are then equally divided into 25 regions in the direction falling at right angles with the rotational direction, to obtain 100-spot regions A in total, and, in each thereof, square regions B of 50 ?m each per side one side of which is parallel to the rotational direction are provided and the regions B are each equally divided into 500 zones by straight lines parallel to the rotational direction, 400 to 499 lines among the straight lines pass through the depressed portions in each of the regions B.

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: An electrophotographic photosensitive member has a surface having a plurality of depressed portions, having a major-axis diameter Rpc of 0.1 to 10 ?m, a minor-axis diameter Lpc of 0.1 to 10 ?m and a deepest-part to opening distance Rdv of 0.1 to 10 ?m. Where the surface is equally divided into 4 regions in the rotational direction, which are then equally divided into 25 regions in the direction falling at right angles with the rotational direction, to obtain 100-spot regions A in total, and, in each thereof, square regions B of 50 ?m each per side one side of which is parallel to the rotational direction are provided and the regions B are each equally divided into 500 zones by straight lines parallel to the rotational direction, 400 to 499 lines among the straight lines pass through the depressed portions in each of the regions B.

Abstract: There are included a surrounding pattern projection system for projecting an annular pattern light beam encircling a main unit portion from an upper side of the main unit portion to a floor surface around the main unit portion in an oblique direction with respect to the floor surface, a camera for picking up a projected pattern image of the pattern light beam projected from the surrounding pattern projection system from the upper side of the main unit portion, and a image processing device for sensing a displacement of the projected image of the pattern light beam based on the picked up image picked up by the camera, the displacement being generated when the pattern light beam is projected onto a portion of an obstacle around the main unit portion which is different in height from the floor surface, and for detecting thereby the obstacle around the main unit portion.

Abstract: In a method of teaching a traveling path to a robot, when a self-propelled robot learns a traveling path, automatic processing is performed as follows: an instructor only follows the traveling path, and the self-propelled robot set at a learning mode follows the traveling path of the instructor and determines path teaching data. Thus, it is possible to teach a path to the self-propelled robot without the necessity for the instructor to directly edit position data.

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: A contour line characteristic point detecting apparatus arranged so that direction codes of respective tracing points are obtained by contour line data, and then, their directional difference values are found by a directional difference value calculating part. Thus, permutational direction codes are obtained through addition of the directional difference value at the tracing point, to the direction code at the tracing starting point or to the permutational direction code at the previous tracing point by an adder. Thus, by inputting this permutational direction code into a calculation table through delay registers of a plurality of stages, the linear component detection and corner detection can be effected without depending on the directions.

Abstract: A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system.

Abstract: A method of measuring a three-dimensional position of a workpiece by using a laser measuring unit provided at a hand portion of an industrial robot, the laser measuring unit including an image recognition camera and first and second laser beam sources for emitting lateral and vertical slit beams, respectively, the method comprising the steps of: positioning the laser measuring unit such that the laser measuring unit confronts the workpiece; emitting the lateral and vertical slit beams towards the workpiece from the first and second laser beam sources, respectively; inputting the lateral and vertical slit beams on the workpiece, as first and second slit images, into the image recognition camera, respectively; detecting a first point of a maximum output of the lateral slit beam at an edge of the workpiece in the first slit image and a second point of a maximum output of the vertical slit beam at another edge of the workpiece in the second slit image; and calculating the three-dimensional position of the workpie

Abstract: An apparatus for mounting a flat package type IC on a printed circuit board is disclosed. The apparatus includes: a robot hand for holding the IC; cameras each for taking an image of a part of the IC taking an image of a part of the board, which cameras are fixed to the hand and arranged symmetrically with respect to the rotation axis of the hand; a first processor for obtaining linear deviation and rotational deviation of leads from the images of the IC, and for obtaining linear deviations and rotational deviation of lands from the images of the board; a second processor for obtaining a linear difference between the linear deviations of the IC and board, and for obtaining a rotational difference between the rotational deviations of the IC and board; and a driver for adjusting the position of the IC, by linearly moving the hand by the linear difference, and by rotating the hand by the rotational difference, thereby correctly positioning the leads on the corresponding lands.