Abstract: A battery disclosed herein includes a wound electrode body, a battery case having a substantially rectangular first surface, and an electrolytic solution injection hole formed on the first surface of the battery case, a sealing member for sealing the electrolytic solution injection hole, and an insulating member fixed to the first surface. The electrolytic solution injection hole is formed in a position that does not overlap with vertexes of the curved portions of the plurality of wound electrode bodies. Herein, a part of the insulating member is disposed in a valley portion surrounded by a surface linking the vertexes of the adjacent wound electrode bodies and the curved surface of the curved portion of the adjacent wound electrode bodies, and a part of the sealing member is disposed in the valley portion.

Abstract: A robot control apparatus includes a control unit that generates, as control information, information regarding an amount of movement for controlling a motion of a robot and that outputs the control information, an information obtaining unit that obtains, as actual physical information, physical information indicating a result of an actual motion of the robot based on the control information, a motion estimation unit that outputs information output from a model plant, which is obtained by modeling an ideal state of the robot, by inputting the control information to the model plant as estimated physical information, which is obtained when the robot is assumed to move ideally on a basis of the control information, and a state estimation unit that estimates a state of the robot on a basis of the actual physical information and the estimated physical information. The control unit generates the control information further on a basis of a result of the estimation of the state of the robot.

Abstract: A drive device 1 includes a motor 2, a planetary roller type power transmission unit and a drive control unit. The planetary roller type power transmission unit includes a plurality of planetary rollers 4, a ring 6, a fixed body 9 covering the ring 6 and having an aperture 9a located so that a projecting portion 6a is movable therein, a carrier roller 7, and an output shaft 8. A drive control unit 10 controls the rotation of a motor 2 of the drive device so that when the image forming device is not carrying out an image forming operation the projecting portion 6a of the ring 6 reciprocates within the aperture 9a of the fixed body 9.

Abstract: A drive device 1 includes a planetary roller type power transmission unit, a temperature sensor 5b, a delay time determination unit 103, and an image processing control unit 104. The planetary roller type power transmission unit includes a plurality of planetary rollers at least a part thereof made from an elastic material that is pressed against the periphery of a motor 2 rotation shaft, a ring that contacts the plurality of planetary rollers, a carrier roller, and an output shaft. The temperature sensor 5b measures the temperature Te of or near the planetary roller. The delay time determination unit 103 determines the delay time Td from the start up time of the motor 2 until the start of the image forming process. The image processing control unit 104 starts the image forming process after the delay time Td has passed from the start up time of the motor 2.

Abstract: A drive device 1 includes a motor 2, a planetary roller type power transmission unit and a drive control unit. The planetary roller type power transmission unit includes a plurality of planetary rollers 4, a ring 6, a fixed body 9 covering the ring 6 and having an aperture 9a located so that a projecting portion 6a is movable therein, a carrier roller 7, and an output shaft 8. A drive control unit 10 controls the rotation of a motor 2 of the drive device so that when the image forming device is not carrying out an image forming operation the projecting portion 6a of the ring 6 reciprocates within the aperture 9a of the fixed body 9.

Abstract: A drive device 1 includes a planetary roller type power transmission unit, a temperature sensor 5b, a delay time determination unit 103, and an image processing control unit 104. The planetary roller type power transmission unit includes a plurality of planetary rollers at least a part thereof made from an elastic material that is pressed against the periphery of a motor 2 rotation shaft, a ring that contacts the plurality of planetary rollers, a carrier roller, and an output shaft. The temperature sensor 5b measures the temperature Te of or near the planetary roller. The delay time determination unit 103 determines the delay time Td from the start up time of the motor 2 until the start of the image forming process. The image processing control unit 104 starts the image forming process after the delay time Td has passed from the start up time of the motor 2.

Abstract: An apparatus for controlling toner concentration includes a toner concentration detector, a toner supplier, a wave-former that periodically scrapes off toner from a detecting face of the toner concentration detector and thereby forms a wave of decreasing output of the toner concentration detector, and an about-minimum value detector that detects a minimum of the decreasing output. A toner concentration detection retarder is actuated from the time the minimum is detected. The toner supplier is actuated based on the detected toner concentration after the toner concentration detection retarder is released of action.

Abstract: A color image forming apparatus for printing color images for a plurality of recording mediums having one or more photoreceptors for forming toner images of different color toners. The toner images are superimposed onto the intermediate transfer drum having a length of circumference such that a plurality of color images for the plurality of recording mediums can be held on this intermediate transfer drum. The superimposition of colors is done by consecutively repeating the primary transfer of each toner developed on the photoreceptor to the intermediate transfer drum. The toner images are formed on the photoreceptor and transferred to the intermediate transfer drum consecutively if the color images to be printed are solely of a specific monochrome color.

Abstract: A color image forming apparatus for printing color images for a plurality of recording mediums having one or more photoreceptors for forming toner images of different color toners. The toner images are superimposed onto the intermediate transfer drum having a length of circumference such that a plurality of color images for the plurality of recording mediums can be held on this intermediate transfer drum. The superimposition of colors is done by consecutively repeating the primary transfer of each toner developed on the photoreceptor to the intermediate transfer drum. The toner images are formed on the photoreceptor and transferred to the intermediate transfer drum consecutively if the color images to be printed are solely of a specific monochrome color.

Abstract: The present invention provides a toner concentration control device which can measure the concentration of toner stably in an extended period of time without influenced by the shape of a developer stirring mixer rib and mounting position of a toner concentration detecting censer, with a result the stagnation or adhesion of toner in the proximity of the toner concentration detecting censer is eliminated, by so composing a toner concentration control device having a toner concentration censer for detecting magnetically the concentration of toner mounted facing a developer stirring mixer in a developing vessel, so that a waveform detection means which detects the output of the toner concentration censer for at least over one cycle before a toner supply means is activated, and an about-minimum value judging means which judges the minimum value or its vicinity detected by the waveform detection means are provided, and an about-minimum detection means is activated on the basis of the value judged as minimum or its

Abstract: An apparatus for controlling the density of a developer is described. The apparatus includes a developer container 51 in which a developer is enclosed; a detector 58 for magnetically detecting information about the density of the toner; toner supply for supplying toner in accordance with an output value from the detecting means; waveform forming for reducing an output value from the detecting means by operating mechanical means 56a for periodically raking out the developer existing on a detecting surface of the detecting means 58; and delaying means for inhibiting detection of the density of toner from a predetermined time at which the output value has been reduced to a time at which the output value is restored to a stable output value. The toner supply means can be operated in accordance with a value detected after the delay means has been suspended.