Abstract: A moving mechanism relatively moves a machining head emitting a laser beam, with respect to a sheet metal along a surface of the sheet metal. A beam vibrating mechanism vibrates the laser beam for irradiation on the sheet metal, while the machining head is relatively moved by the moving mechanism. A machining condition setting section sets pattern selection information to select a vibration pattern of the laser beam by the beam vibrating mechanism, and a parameter to determine a vibrating way in the vibration pattern, in accordance with machining conditions specified for each machining command to machine the sheet metal in a machining program generated to machine the sheet metal, and including a machining velocity of the sheet metal associated with relative movement of the machining head by the moving mechanism.

Abstract: A composition containing polytetrafluoroethylene and substantially free from a compound represented by Formula (3): (H—(CF2)8—SO3)qM2 wherein M2 is H, a metal atom, NR54 (where R5s may be the same as or different from each other and are each H or an organic group having 1 to 10 carbon atoms), an imidazolium optionally having a substituent, a pyridinium optionally having a substituent, or a phosphonium optionally having a substituent, and q is 1 or 2. Also disclosed is a molded boy including the composition.

Abstract: A polylactic acid resin composition includes a polylactic acid resin in an amount of 99% by mass or more. A complex viscosity ?*(20) of the polylactic acid resin composition is 2×103 Pa·s or higher. A ratio of the complex viscosity ?*(20) to a complex viscosity ?*(5), which is represented by [?*(20)/?*(5)], is 0.6 or higher. The complex viscosity ?*(5) and the complex viscosity ?*(20) are complex viscosities respectively measured 5 minutes and 20 minutes after the start of measurement using a parallel plate-type rotary viscometer under measurement conditions below: [Measurement Conditions] Parallel plates: 20 mm in diameter, made of aluminum; Temperature: 200° C.; Gap between the parallel plates: 1.00 mm; Frequency: 1 Hz (6.28 rad/s); Atmosphere: under dry air (dew point: ?60° C.); and Size of measurement sample: a strip that is 30 ?m thick, 7 mm wide, and 35 mm long.

Abstract: A foam sheet contains an aliphatic polyester resin, a nucleating agent for foaming, and hydrofluoroolefin, wherein the nucleating agent accounts for 0.05 to 2 percent by mass of the foam sheet.

Abstract: A method for producing particles, the method including: depolymerizing a resin to obtain a depolymerized product; contacting the depolymerized product obtained in the depolymerizing with a first compressive fluid to obtain a melted product; and jetting the melted product obtained in the contacting to granulate the particles.

Abstract: A method for producing particles, the method including: depolymerizing a resin to obtain a depolymerized product; contacting the depolymerized product obtained in the depolymerizing with a first compressive fluid to obtain a melted product; and jetting the melted product obtained in the contacting to granulate the particles.

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: Robot 1 includes an upper base body 10, and a control section 13 provided inside the upper base body 10. The control section 13 causes measurement section 205c to rotate in a left-right direction around yaw axis, by driving each drive section 205b of two LRFs 205. When passage width necessary for the robot 1 to pass through is W, the control section 13 causes each measurement section 205c to rotate in a range (W/2), by driving each drive section 205b of the two LRFs 205. LRF scanning speed/range calculation section 71 calculates rotation angle ?swing and a rotation speed Vswing of the measurement section 205c. The control section 13 drives the drive sections 205b so as to cause the measurement section 205c to rotate at the rotation angle ?swing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section 71.

Abstract: Robot 1 includes an upper base body 10, and a control section 13 provided inside the upper base body 10. The control section 13 causes measurement section 205c to rotate in a left-right direction around yaw axis, by driving each drive section 205b of two LRFs 205. When passage width necessary for the robot 1 to pass through is W, the control section 13 causes each measurement section 205c to rotate in a range (W/2), by driving each drive section 205b of the two LRFs 205. LRF scanning speed/range calculation section 71 calculates rotation angle ?swing and a rotation speed Vswing of the measurement section 205c. The control section 13 drives the drive sections 205b so as to cause the measurement section 205c to rotate at the rotation angle ?swing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section 71.

Abstract: The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: A control device for a mobile body enabling a smooth transition operation between a first mode and a second mode is provided. A change amount of a center of gravity component at a prescribed time is expressed by using an inertial force-dependent manipulated variable component, which changes in accordance with an instantaneous value (d2Zb/dt2(t1) to d2Zb/dt2(t13)) of desired inertial force at the prescribed time (t1 to t13) in the time series of the desired inertial force (d2Zb/dt2(t)) defined by an up-and-down direction motion parameter, and a displacement-dependent manipulated variable component, which changes in accordance with an instantaneous value (Zb(t1) to Zb(t13)) of desired displacement at the prescribed time (t1 to t13) in the time series of the desired displacement (Zb(t)) defined by the up-and-down direction motion parameter.

Abstract: A method for producing particles, which contains: bringing a compressive fluid and a pressure plastic material into contact with each other to melt the pressure plastic material; and jetting a melt obtained by melting the pressure plastic material to form particles, wherein the jetting the melt is performed by a two-fluid nozzle or three-fluid nozzle.

Abstract: To provide a method for producing particles, which contains: bringing a compressive fluid and a pressure plastic material into contact with each other using a multistage split flow micromixer, to thereby produce a melt of the pressure plastic material, in which the compressive fluid is dissolved; and jetting the melt of the pressure plastic material, to form particles, wherein the pressure plastic material is a resin having a carbonyl structure —C(?O)—, and wherein a viscosity of the melt is 500 mPa·s or lower, as measured under temperature and pressure conditions at the time of the jetting the melt of the pressure plastic material.

Abstract: To provide a method for producing a polymer, which contains: bringing a ring-opening polymerizable monomer containing an amide bond, and a compressive fluid into contact with each other to melt or dissolve the ring-opening polymerizable monomer containing an amide bond, followed by allowing the ring-opening polymerizable monomer containing an amide bond to react through ring-opening polymerization in the presence of a basic organic metal catalyst and a cocatalyst, to thereby obtain a polymer product.

Abstract: A toner prepared by a method comprising granulating while polymerizing a ring-opening polymerizable monomer with a catalyst under the presence of a surfactant and a colorant in a compressible fluid.

Abstract: A particle manufacturing method of the present invention includes: ring-opening-polymerizing a ring-opening-polymerizable monomer after bringing the ring-opening-polymerizable monomer into contact with a first compressible fluid; and granulating a polymer obtained in the ring-opening-polymerizing by jetting the polymer and the first compressible fluid.

Abstract: A method for producing a polymer, which contains bringing a polymerizable monomer and a compressive fluid into contact with each other to melt or dissolve the polymerizable monomer, followed by polymerizing the polymerizable monomer in the presence of an electrophile serving as an initiator.

Abstract: A polymer production apparatus, including: supplying unit containing first supplying unit to supply raw materials containing monomer, and second supplying unit to supply compressive fluid; contacting unit to bring the monomer and the compressive fluid into contact together; and outlet configured to discharge reaction product of the monomer, wherein reaction unit is provided between the contacting unit and the outlet, where the reaction unit is to pass the monomer from the contacting unit side to the outlet side, while allowing the monomer to carry out a polymerization reaction in the presence of the compressive fluid, and wherein the reaction unit contains circulation unit containing first pipe and second pipe, where a fluid is passed through the first pipe from the contacting unit side to the outlet side, and the second pipe is to return the fluid from return port provided upstream extrusion unit to inlet provided upstream the return port.

Abstract: To provide a method for producing a polymer, which contains: bringing a ring-opening polymerizable monomer containing an amide bond, and a compressive fluid into contact with each other to melt or dissolve the ring-opening polymerizable monomer containing an amide bond, followed by allowing the ring-opening polymerizable monomer containing an amide bond to react through ring-opening polymerization in the presence of a basic organic metal catalyst and a cocatalyst, to thereby obtain a polymer product.