Abstract: A structure of the present invention has a plurality of links (L) which link a lumbar side connection part (S) and a grounding part (E), and passive joints (M) which link the links (L) to each other, in which a second Jacobian matrix Jp in a coordinate system obtained by rotating a coordinate system of a first Jacobian matrix J which associates a displacement vector ?p of the grounding part (E) with a micro displacement vector ?? of each of the passive joints (M) at an angle ?p satisfies following Formula (1) or Formula (2) using spring constants k1 and k2 and constants C2 and C4 of a spring which controls the micro displacement ?? of two passive joints (M). [ Math .

Abstract: A quick charging device includes a battery capable of quickly charging a battery for power, the battery for power being a load, a high-capacity battery having a higher electrical capacitance than the battery, and a controller configured to, when the battery for power is charged, connect the battery and the high-capacity battery in series to add power of the high-capacity battery to power of the battery, and supply the battery for power with the power obtained through the addition.

Abstract: A rapid charger includes a storage battery for equipment, a DC power supply unit which converts AC power of an AC power supply into DC power, and a controller which controls the DC power supply unit such that the DC power supply unit generates DC power to charge the storage battery for equipment from the AC power of the AC power supply and allows the DC power to be supplied from the DC power supply unit to the storage battery for equipment during charging of the storage battery for equipment, wherein, when a storage battery for driving power as a load is connected, the controller allows the DC power supply unit and the storage battery for equipment to form a series circuit, controls the DC power supply unit such that the DC power supply unit generates a predetermined DC power from the AC power of the AC power supply, adds the predetermined DC power to the DC power of the storage battery for equipment to generate DC power to charge the storage battery for driving power, and allows the DC power to be supplied t

Abstract: A quick charging device for charging a battery includes a battery with a high power density (a high-power-density battery) and a battery with a high energy density (a high-energy-density battery).

Abstract: This invention relates to new propanolamine derivatives or salts thereof represented by the following formula [I]: Wherein each symbol is as defined in the specification or salts thereof which have gut selective sympathomimetic, anti-ulcerous, anti-pancreatitis, lipolytic, anti-urinary incontinence and anti-pollakiuria activities, to processes for the preparation thereof, to a pharmaceutical composition comprising the same and to a method for the prevention and/or treatment diseases indicated in the specification to a human being or an animal.

Abstract: This invention relates to new propanolamine derivatives or salts thereof represented by the following formula [I]: Wherein each symbol is as defined in the specification or salts thereof which have gut selective sympathomimetic, anti-ulcerous, anti-pancreatitis, lipolytic, anti-urinary incontinence and anti-pollakiuria activities, to processes for the preparation thereof, to a pharmaceutical composition comprising the same and to a method for the prevention and/or treatment diseases indicated in the specification to a human being or an animal.

Abstract: A compound of the formula (I) wherein X1 ? is bond or —O(CH2)m— (in which m is an integral number of 1, 2 or 3); X2 is bond, —(CH2)n—, etc. (in which n is an integral number of 1, 2 or 3); R1 is hydrogen or amino protective group; R2 is hydroxy(lower)alkyl or (lower)alkoxy(lower)alkyl; A is phenyl, pyridyl, indolyl or carbazolyl, each of which may be substituted with one or two substituent(s) selected from the group consisting of halogen, hydroxy, lower alkyl, etc.; and B is phenyl or pyridyl, each of which may be substituted with one or two substituent(s) selected from the group consisting of halogen, hydroxy, nitro, etc.; and a pharmaceutically acceptable salt thereof which is useful as a medicament.

Abstract: A compound of the formula [Ig]; wherein R1 is hydrogen or an amino protective group, R2 is hydrogen or hydroxy, and R3 and R4 are independently N-methyl-methoxycarbonylamino, N-ethyl-methoxycarbonylamino, N-propyl-methoxycarbonylamino or 3-ethylureid, or R3 and R4 are both methoxycarbonylamino substituted at a meta position of the benzene rings, or a salt thereof, and (2S)-1-phenoxy-3-[3,3-bis[4-methoxycarbonylamino)-phenyl]propylamino]-2-propanol sulfate (2:1) and some crystal forms thereof as &bgr;3adrenergic receptor agonists.

Abstract: Propanolamine derivatives represented by the following formula (I): These derivatives may be &bgr;3 agonists and exert sympathomimetic, anti-ulcerous, anti-pancreatitis, lipolytic and anti-urinary incontinence and anti-pollakiuria activities. Pharmaceutical compositions containing such propanolamine derivatives, methods for the prevention and/or treatment diseases using these propanolamine derivatives, and processes for their preparation are also described.

Abstract: This invention relates to new propanolamine derivatives or salts thereof represented by the following formula [I]: 1

Abstract: Apparatus for transferring a motor vehicle comprises a frame body, two pairs of slide forks, each holding front and rear wheels of a motor vehicle respectively and moving the motor vehicle, the two pairs of slide forks moving in a direction perpendicular to a longitudinal direction of the frame body, the two pairs of slide forks having a first pair of slide forks positioned on the side of front wheels and a second pair of slide forks on the side of rear wheels in the frame body, a first adjusting device for adjusting a distance between the first pair of slide forks and the second pair of slide forks to be equal to a distance between a shaft of front wheels and a shaft of rear wheels, the first adjusting device being positioned on at least one side out of the side of front wheels and the side of rear wheels and moving at least one pair of slide forks in a longitudinal direction of the frame body, and a second adjusting device for adjusting a hold distance between slide forks forming each of the first pair of s

Abstract: An apparatus for transferring a motor vehicle of a multistory parking lot comprises a main carriage which moves under a motor vehicle and carries the motor vehicle, and a first small carriage and a second small carriage, both of which are movably positioned at the forward and rearward portions, respectively, of the main carriage in a direction of movement of the main carriage. Two pairs of swing arms are mounted on each of the first small carriage and the second small carriage, which swing horizontally from the direction of movement of the carriages to a direction substantially perpendicular to the direction of movement of the carriages, and between which front and rear wheels of the motor vehicle are engaged respectively and which raise the front and rear wheels and thereby raise the motor vehicle.