Abstract: A robot control device includes an obtaining unit that obtains, from an image sensor that captures a workpiece group to be handled by a robot, a captured image, a simulation unit that simulates operation of the robot, and a control unit that performs control such that the captured image is obtained if, in the simulation, the robot is retracted from an image capture forbidden space, in which an image is potentially captured with the workpiece group and the robot overlapping each other, and which is set based on either or both a first space being the visual field range of the image sensor, and a columnar second space obtained by taking a workpiece region including the workpiece group or each of divided regions into which the workpiece region is divided, as a bottom area, and extending the bottom area to the position of the image sensor.

Abstract: A path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.

Abstract: An interference determination apparatus includes: an acquisition unit that acquires region information indicating regions set in a configuration space in which the angles of rotation of two or three specific joints of an articulated robot are indicated by coordinate axes, the regions including an interference region in which the robot is determined to interfere with itself or an obstacle based on the magnitudes of the angles of rotation of the specific joints, and a non-interference region in which the robot is determined to not interfere with itself or an obstacle based on the magnitudes of the angles of rotation of specific joints; and a determination unit that determines whether the robot interferes with itself or an obstacle, by determining whether coordinates indicating a posture determined by the angles of rotation of the specific joints belong to the interference region or the non-interference region indicated by the acquired region information.

Abstract: A developer including a colored resin particle and an external additive added to a surface of the colored resin particle and having a diameter smaller than or equal to 200 nm is provided. The external additive includes a nitrogen-containing resin particle. In elemental analysis of the nitrogen-containing resin particle, a peak appearing in a range of 0.38-0.42 keV is expressed as an N-peak, and a peak appearing in a range of 0.48-0.52 keV is expressed as an O-peak. Maximum count numbers in the N-peak and the O-peak of the external additive on a surface of the colored resin particle are respectively expressed as N1 and O1. Maximum count numbers in the N-peak and the O-peak of the surface of the colored resin particle where no external additive is observed are respectively expressed as N2 and O2. The count numbers N1, O1, N2 and O2 satisfy 1.7×(N2/O2)<(N1/O1).

Abstract: The purpose of the present invention is to provide a nanofibre-containing liquid resin composition which is used in a three-dimensional moulding production method in which a moulding obtained by curing the resin composition by irradiating the resin composition with active energy rays is three-dimensionally formed, said resin composition being capable of further reducing the difference between the strength of the formed three-dimensional moulding in the height direction and the strength thereof in a planar direction. The present invention relates to a liquid resin composition which is used to produce a three-dimensional moulding, and which three-dimensionally forms a moulding as a result of being cured by being selectively irradiated with active energy rays. The resin composition includes an active energy ray-curable compound and nanofibres. The ratio of the number of nanofibres having a branched structure to the total number of nanofibres is 5% or higher.

Abstract: The purpose of the present invention is to provide a liquid resin composition which includes polysaccharide nanofibres, and which is used in a three-dimensional moulding production method in which a moulding obtained by curing the resin composition by irradiating the resin composition with active energy rays is three-dimensionally formed, wherein unevenness in strength in the height direction is not readily produced in the formed three-dimensional moulding. The present invention relates to a liquid resin composition which is used to produce a three-dimensional moulding, and which three-dimensionally forms a moulding as a result of being cured by being selectively irradiated with active energy rays. The resin composition includes an active energy ray-curable compound and polysaccharide nanofibres. The ratio of the number of polysaccharide nanofibres having a branched structure to the total number of polysaccharide nanofibres is less than 20%.

Abstract: A pain sensory nerve stimulation apparatus includes: an electrode portion including: a first electrode, a tip end of which is adapted to be inserted into a skin; and at lease one second electrode which is disposed in a circumference of the first electrode without being electrically conductive with the first electrode, and which is adapted to be in contact with a skin; and a pulse signal supplier, supplying a pulse signal in which an electrical polarity of the first electrode is set as a anode and an electrical polarity of the second electrode is set as a cathode.

Abstract: Provided is a hot-dip galvannealed steel sheet for hot stamping use, in which a base steel sheet contains Si in an amount of 0.7% or more, and which has excellent joint strength at a spot-welded part and can exhibit excellent adhesion to a coating film after hot stamping and coating with requiring little restriction of a hot stamp step. In the hot-dip galvannealed steel sheet, a base steel sheet contains, in mass %, 0.10 to 0.5% of C, 0.7 to 2.5% of Si, 1.5 to 3% of Mn and 0.01 to 0.5% of Al. The hot-dip galvannealed steel sheet is characterized in that the Mn concentration in a plating layer is 0.20% or more, the plated amount is 75 g/m2 or less, and the oxygen concentration at the interface between the plating layer and the base steel sheet is 0.50% or less.

Abstract: A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

Abstract: An image pickup device includes a pixel region having a plurality of pixels that are two-dimensionally arranged, the plurality of pixels including a plurality of image pickup pixels and a plurality of focus detection pixels capable of phase difference detection; a plurality of microlenses arranged to correspond to respective photoelectric conversion units of respective image pickup pixels; and a plurality of microlenses arranged to correspond to respective photoelectric conversion units of the respective focus detection pixels. When at least one of the plurality of microlenses is orthogonally projected onto the corresponding photoelectric conversion unit, a vertex position of the at least one microlens is off a center position of the at least one microlens.

Abstract: A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

Abstract: A toner includes binder resin 101 and a coloring agent 102. The coloring agent 102 is configured so that hue of a hue measurement print image printed on a print medium with the toner satisfies ?8.6?a*(Y)??7.9 and 93.4?b*(Y)?95.4, where a*(Y) and b*(Y) represent an a* value and a b* value of the hue measurement print image and light resistance F of a light resistance measurement print image printed on a print medium with the toner, after an irradiation test in which the light resistance measurement print image is irradiated with light having 0.36 W/m2 spectral irradiance at a wavelength of 340 nm for 663 hours, is higher than or equal to 70%. The toner is configured so that its melt viscosity at 120° C. is higher than or equal to 1400 Pa·s and lower than or equal to 1600 Pa·s.

Abstract: An interference determination method is provided to compute whether or not a robot that operates according to a motion path will interfere with a nearby object. A first orientation, a second orientation, and an intermediate orientation of the robot are set, and a first combined approximated body is generated that is configured by combining a plurality of robot approximated bodies, which are obtained by approximating the shape of the robot in these orientations. If it is determined that the robot will interfere with the nearby object, whether to generate a combined approximated body that is smaller than the first combined approximated body is determined based on the amount indicating the interval between two adjacent robot approximated bodies.

Abstract: A leakage inspection method and leakage inspection device for container to be inspected are provided. When a container to be inspected having a deformable flexible part is to be inspected for leakage, the container to be inspected is filled with an inspection gas containing helium, the container to be inspected, which has been filled with the inspection gas, is disposed in an inspection chamber partitioned from the outside, and an upward flow of a carrier gas is formed from the lower part to the upper part of the container to be inspected. A leakage of the inspection gas filled in the container to be inspected is then detected on the basis of the result of measuring the concentration of helium in the carrier gas collected at a position higher than a position where the carrier gas is fed into the inspection chamber.

Abstract: For obtaining a hot dip galvannealed steel sheet having high strength and high ductility and excellent phosphatability, a chemical composition of a material steel sheet for forming the hot dip galvannealed steel sheet comprises 0.4 to 2.0 mass % of Si and 1.0 to 3.5 mass % of Mn, and an average Mn concentration for a region from the uppermost surface to 0.01 ?m depth in the coating layer is defined as 0.14% or more.

Abstract: Provided is an interference determination method with which whether or not a robot interferes with a surrounding object on a motion path can be computed. At least one intermediate position is set on a motion path of movement from the first position to the second position, a plurality of robot approximated bodies that are each constituted by combining at least two robot approximated bodies at a plurality of postures corresponding to each position are generated, a second combined approximated body constituted by combining at least two first combined approximated bodies is generated with respect to at least one focused part, and the second combined approximated body interferes with a surrounding object approximated body is determined.

Abstract: A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.

Abstract: A developer including a colored resin particle and an external additive added to a surface of the colored resin particle and having a diameter smaller than or equal to 200 nm is provided. The external additive includes a nitrogen-containing resin particle. In elemental analysis of the nitrogen-containing resin particle, a peak appearing in a range of 0.38-0.42 keV is expressed as an N-peak, and a peak appearing in a range of 0.48-0.52 keV is expressed as an O-peak. Maximum count numbers in the N-peak and the O-peak of the external additive on a surface of the colored resin particle are respectively expressed as N1 and O1. Maximum count numbers in the N-peak and the O-peak of the surface of the colored resin particle where no external additive is observed are respectively expressed as N2 and O2. The count numbers N1, O1, N2 and O2 satisfy 1.7×(N2/O2)<(N1/O1).

Abstract: A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.

Abstract: An image forming system includes a post-processing unit capable of performing a post-processing on the sheet on which the toner image is formed. The image forming system is capable of executing a transfer cleaning operation to more toner from a transfer member to an image bearer by electrostatic force caused by cleaning bias applied by a bias applying unit in a state where the image bearer and the transfer member are rotated, to clean the transfer member, as an inter-sheet operation performed when at least one of inter-sheet areas that exist on the image bearer during a successive image forming period. The image forming system is capable of executing a rotation stop operation to stop rotation of the image bearer and the transfer member, as the inter-sheet operation when the post-processing is performed, in addition to the transfer cleaning operation, before or after the transfer cleaning operation is executed.