Abstract: An obstacle avoidance control device includes an avoidance command value calculation unit that obtains an avoidance command value that is a control command value for control target equipment, the control command value which satisfies constraint conditions including a condition sufficient for the control target equipment not to come into contact with an obstacle, and the control command value that an evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed end condition, and an equipment control unit that controls the control target equipment on the basis of a processing result of the avoidance command value calculation unit.

Abstract: What is disclosed is a motion model calculation device which easily creates a motion model for a drive device. The motion model calculation device is connected to a robot arm including a plurality of arms and a joint mechanism which pivotally joins the plurality of arms to a connection part, outputs a predetermined motion command to the joint mechanism, acquires a driving state of the joint mechanism caused by a motion corresponding to the motion command, and calculates, on the basis of the motion command and the driving state, a motion model representing the relationship between an input value representing an input to the joint mechanism and an output value of the joint mechanism with respect to the input.

Abstract: A control device connected to a robot arm with a plurality of joints acquires system information indicating at least a posture state of the robot arm or a drive state of the robot arm. Also, the control device acquires control target information indicating a control target of the robot arm. The control device is configured to calculate, on the basis of the system information, contribution information that is an indicator indicating contribution of the joints to drive of the robot arm on the basis of the control target information. Moreover, the control device is configured to calculate control command information to be used to control driving of each of the joints on the basis of the contribution information.

Abstract: A control device includes a processor configured to: calculate an estimated value of a contribution of a disturbance in a transition of an internal state of a dynamic power unit, based on a last internal state and a last control input by which the internal state is controlled; determine the control input so as to minimize a difference from a reference value of the control input by which the internal state becomes a predetermined internal state, under a condition that a sum of the estimated value of the contribution and a value of the constraint condition expression when there is not the disturbance at the current time is equal to or more than a value resulting from reducing a last value of the constraint condition expression by a predetermined ratio; and control the dynamic power unit in accordance with the determined control input.

Abstract: The control device controls a control parameter based on values of operating parameters. The control device is configured to: acquire current values of the operating parameters; calculate, using a model, a probability distribution of an output parameter with respect to a value of the control parameter based on the acquired current values of the operating parameters; and set a target value of the control parameter based on the calculated probability distribution of an output parameter so that the probability of the value of the output parameter becoming equal to greater than a target value is most approached the target probability. The control parameter, operating parameters, and output parameter are parameters different from each other. The model is a model using a Gaussian process which outputs the probability distribution of an output parameter if values of the operating and control parameters are input.

Abstract: A preform is formed by stacking core elements that are coated with prepregs. By heating the preform at a temperature at which the core elements do not thermally shrink, the prepregs are preliminarily hardened, and prepregs that are in contact with each other are caused to adhere to each other. Then, the prepregs are definitively hardened and the core elements are thermally shrunk by heating the preform at a temperature at which the core elements thermally shrink.

Abstract: A preform is formed by stacking core elements that are coated with prepregs. By heating the preform at a temperature at which the core elements do not thermally shrink, the prepregs are preliminarily hardened, and prepregs that are in contact with each other are caused to adhered to each other. Then, the prepregs are definitively hardened and the core elements are thermally shrunk by heating the preform at a temperature at which the core elements thermally shrink.

Abstract: A macrocell structure 20 having a honeycomb form is preheated to cure to a cure depth falling within a range where a flexibility of prepregs in the macrocell structure remains. Subsequently, prepregs 31, 32 are arranged along a side wall of the preheated macrocell structure 20, so as to make a preliminary structure 40. Then, the preliminary structure 40 is heated while the inside of the prepregs 31, 32 in the preliminary structure 40 is vacuumed. Thereafter, the preliminary structure 40 is heated while imparting an internal pressure thereto within a mold 5, so as to be cured, whereby a resin structure 1 is produced.

Abstract: A macrocell structure 20 having a honeycomb form is preheated to cure to a cure depth falling within a range where a flexibility of prepregs in the macrocell structure remains. Subsequently, prepregs 31, 32 are arranged along a side wall of the preheated macrocell structure 20, so as to make a preliminary structure 40. Then, the preliminary structure 40 is heated while the inside of the prepregs 31, 32 in the preliminary structure 40 is vacuumed. Thereafter, the preliminary structure 40 is heated while imparting an internal pressure thereto within a mold 5, so as to be cured, whereby a resin structure 1 is produced.

Abstract: To provide an ophthalmic lens container of novel structure, whereby without the use of any special utensil, a liquid such as a preserving solution can be drained, while keeping an ophthalmic lens held in the container. An ophthalmic lens container 210 includes a container body 212, wherein a cavity 224 has an opening inside face 228 of generally heart shape in a plane view. A constricted lower end of the lower section of the heart shape in the opening inside face has a circumferential radius of curvature: ra is smaller than a radius of curvature of a front face of the ophthalmic lens, and the two side portions of the heart shape in the opening inside surface 228 of the cavity 224 have the radius of curvature in the circumferential direction greater than the radius of curvature of the front face of the ophthalmic lens; while a diameter dimension of an inscribed circle in the opening of the cavity is greater than the outside diameter dimension of the ophthalmic lens.

Abstract: A method of manufacturing a contact lens having a mark is provided, wherein the contact lens is provided with a mark at the same time as the polymerization of the contact lens in the mold. The coloring composition, for the mark includes a medium which includes at least one monomer component of the monomer mixture used to form the polymer of the contact lens; and a predetermined dyestuff. A concave molding surface is roughened by forming a multiplicity of minute recesses by sputtering to define a marker portion, and the coloring composition is attached to the roughened concave molding surface. The coloring composition is then prepolymerized in the marker position before the monomer mixture of the contact lens material is introduced into and polymerized in the mold.

Abstract: It is an object of the present invention to provide a coloration, which does not damage a contact lens and is not discolored, and to provide an improved technique of manufacturing a contact lens, wherein the contact lens can be marked at the same time as the polymerization of the contact lens in the mold, without troublesome processes. In the present invention, there is adopted, as a coloring composition, a medium which comprises: at least one of monomer components, which constitutes a monomer composition to provide a polymer to form the contact lens; and a predetermined dyestuff. A concave molding surface (28) is roughened by forming a multiplicity of minute recesses by sputtering, before attaching the coloring composition to the concave molding surface; and coloring composition attached to the concave surface (28) is prepolymerized, before the introduction of the monomer mixture to the concave molding surface.

Abstract: To provide an ophthalmic lens container of novel structure, whereby without the use of any special utensil, a liquid such as a preserving solution can be drained, while keeping an ophthalmic lens held in the container. An ophthalmic lens container 210 includes a container body 212, wherein a cavity 224 has an opening inside face 228 of generally heart shape in a plane view. A constricted lower end of the lower section of the heart shape in the opening inside face has a circumferential radius of curvature: ra is smaller than a radius of curvature of a front face of the ophthalmic lens, and the two side portions of the heart shape in the opening inside surface 228 of the cavity 224 have the radius of curvature in the circumferential direction greater than the radius of curvature of the front face of the ophthalmic lens; while a diameter dimension of an inscribed circle in the opening of the cavity is greater than the outside diameter dimension of the ophthalmic lens.

Abstract: Disclosed is an ophthalmic lens storage container comprising: a container body including a lens storage portion having a cavity for storing a lens and a preserving solution, and a flange surrounding the cavity; and a cover sheet stripably sealed to the flange in a sealing zone that extends around the cavity to thereby fluid-tightly seal the lens storage portion. The flange of said container body includes an insulating portion located radially outward of an open-end peripheral portion of the cavity, extending circumferentially and includes a shoulder surface that extends in a first direction opposite to a second direction along which the cavity is exposed, and the sealing zone is located radially outward of the insulating portion of the flange.

Abstract: It is an object of the present invention to provide a contact lens mold unit that is capable of easily and consistently provides a sealing in a mold cavity as well as a mating and fixing force to maintain a male and a female mold in a mated state. A male mold and a female mold are mated to form a contact lens mold cavity 16 between abutment surfaces thereof. One mold 14 is provided with a fitting projection 42 projected out from a fitting wall 34. When mating the molds, the fitting projection 42 is caused to deform by being pressed against a fitting wall 22 of the other mold 12, whereby the peripheral portion of the mold cavity 16 is closed off, and a gap 14 between the fitting walls 22, 34 of the female and male molds 12, 14 are filled by the fitting projection, exerting a mating and fixing force.

Abstract: Disclosed is an ophthalmic lens storage container comprising: a container body including a lens storage portion having a cavity for storing a lens and a preserving solution, and a flange surrounding the cavity; and a cover sheet stripably sealed to the flange in a sealing zone that extends around the cavity to thereby fluid-tightly seal the lens storage portion. The flange of said container body includes an insulating portion located radially outward of an open-end peripheral portion of the cavity, extending circumferentially and includes a shoulder surface that extends in a first direction opposite to a second direction along which the cavity is exposed, and the sealing zone is located radially outward of the insulating portion of the flange.

Abstract: A multifocal ocular lens having a vision correction area including at least one distant vision correction region having a first optical power value for distant vision correction and at least one near vision correction region having a second optical power value for near vision correction, wherein the vision correction area further includes a central intermediate-distance vision correction region which has a third optical power value for intermediate vision correction between the first and second optical power values and which is located in a central portion of the vision correction area such that the distant and near vision correction regions are located radially outwardly of the central intermediate-distance vision correction region.

Abstract: Multifocal ocular lens including a central vision correction region having a first optical power value, an outer vision correction region spaced radially outwardly from the central vision correction region and having a second optical power value different from the first optical power value, and an intermediate vision correction region located radially intermediate between the central and outer vision correction regions and having a distribution of optical power between the first and second optical power values, and wherein the intermediate region has a first transition point and a second transition point which is not radially inwardly spaced from the first transition point, such that the distribution of the optical power of the intermediate region includes two optical power values which are defined by the first and second transition points, respectively, and which are determined such that the optical power value defined by the second transition point is closer to the first optical power value of the central r

Abstract: A plastic optical fiber connector in which at least a pair of plug connectors having plastic optical fiber cables are held so that the end faces of optical fibers are opposed to each other, includes an adaptor which is provided with a plurality of connector receptacles that receive the plug connectors inserted therein from opposite directions.

Abstract: Presbyopia correction contact lens including an optical zone consisting of a substantially circular central optical portion and an annular peripheral optical portion outside the central optical portion, the central and peripheral optical portions having respective different optical power values, so that the central and peripheral optical portions provide one and the other of a near vision correction region and a distant vision correction region, respectively, wherein the central and peripheral optical portions provide the near and distant vision correction regions, respectively, and the optical zone includes a front surface having an arcuate configuration with a substantially constant curvature in cross section taken in a plane parallel to a diametric direction of the contact lens, and a back surface consisting of a central portion corresponding to the central optical portion and a peripheral portion corresponding to the peripheral optical portion, the central portion of the back surface having an arcuate con