Abstract: Included are: a training data acquiring unit that acquires training data created on the basis of operation-related data obtained from a machine device; a noise imparting unit that creates noise-imparted training data in which noise is imparted to the training data acquired by the training data acquiring unit; an outlier detecting unit that calculates an outlier score from the training data acquired by the training data acquiring unit and the noise-imparted training data created by the noise imparting unit; and a model learning unit that calculates a weighted loss function based on the outlier score calculated by the outlier detecting unit, and trains a machine learning model on the basis of the training data and the noise-imparted training data.

Abstract: A positioning control device includes a position-command generation unit to generate a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on the basis of a position command parameter, a drive control unit to drive a motor such that a detected position value of the motor or a control target follows the position command, an evaluation unit to calculate an evaluation value regarding positioning performance on the basis of a detected position value of the motor or the control target during execution of positioning control on the control target, and a learning unit to obtain a learning result by learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently.

Abstract: It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus includes: a sensor data output unit that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot is controlled, the sensor data representing a state of work of the robot; and a determination unit that determines a quality of the work of the robot by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit.

Abstract: It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus (30) includes: a sensor data output unit (31) that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot (1) is controlled, the sensor data representing a state of work of the robot (1); and a determination unit (32) that determines a quality of the work of the robot (1) by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit (31).

Abstract: A positioning control device includes a position-command generation unit to generate a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on the basis of a position command parameter, a drive control unit to drive a motor such that a detected position value of the motor or a control target follows the position command, an evaluation unit to calculate an evaluation value regarding positioning performance on the basis of a detected position value of the motor or the control target during execution of positioning control on the control target, and a learning unit to obtain a learning result by learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently.