Abstract: A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

Abstract: An image forming apparatus includes a sensor that acquires first and second data groups of paper characteristics by measuring a recording medium; a processor that determines a parameter for controlling at least one of image formation and conveyance of a recording medium on a conveyance path based on the first and second data groups acquired by the sensor; an image former that forms an image on a recording medium conveyed on the conveyance path based on the parameter. The processor compares the first and second paper characteristic data groups, the first paper characteristic data group has been measured at a first time period and the second paper characteristic data group has been measured at a second time period nearer to a present time than the first time period, and the processor controls the image formation based on a the comparison result.

Abstract: Provided is a simulation device capable of efficiently adjusting the position of a visual sensor model. The simulation device includes: a virtual space generation unit that generates a virtual space three-dimensionally representing a work space; a measurement target model arrangement unit that arranges in the virtual space a measurement target model three-dimensionally representing a measurement target; a measurement portion specification unit that specifies a measurement portion in the measurement target model; a visual sensor model arrangement unit that arranges the visual sensor model three-dimensionally representing a visual sensor for imaging the measurement target, at an arbitrary visual sensor model position; and a position determination unit that determines, on the basis of the position of the measurement portion, the visual sensor model position included in an image size of the visual sensor model as an arrangement position of the visual sensor model.

Abstract: During or after a simulation, a change in robot operation and cycle time before and after revision of a robot program, or a difference in the robot operation and cycle time between multiple robot programs, the contents of which are partially different, are compared. This robot simulation device has a three-dimensional model arrangement unit that arranges in a virtual space a robot model representing a robot, a simulation execution unit that executes a simulation with a robot program and operates a robot model, an operation log storage unit that stores the position/orientation of the robot model at each time point as an operation log, and an operation log reproduction unit that selects one or more operation logs, arranges in the virtual space an operation log reproduction robot model representing the robot, and operates the operation log reproduction robot model based on time points stored in the selected operation log(s).

Abstract: A robot simulation device includes: an arrangement unit that arranges a robot model, a visual sensor model, and a workpiece model in a virtual space; a calculation unit that, by superimposing three-dimensional position information for a workpiece, acquired by a visual sensor in a workspace and based on a robot or the visual sensor, and shape characteristics of a workpiece model, calculates a position and orientation of the workpiece model based on a robot model or a visual sensor model in the virtual space; and a simulation unit that measures the workpiece model using the visual sensor model and executes a simulation operation in which work is performed on the workpiece model by the robot model. The arrangement unit arranges, in the virtual space, the workpiece model in the position and the orientation calculated by the calculation unit and based on the robot model or the visual sensor model.

Abstract: An object of the present invention is to develop a novel treatment method for chronic diseases for which conventional treatment methods are either ineffective or for which efficacy is low. The present invention provides a pharmaceutical composition for the treatment and/or prevention of an inflammatory chronic disease that is used in combination with a biological preparation that inhibits leukocyte tissue invasion. The pharmaceutical composition of the present invention contains as an active ingredient thereof siRNA suppressing the expression of CHST15 gene that contains a structure formed by the hybridization of RNA containing the base sequence represented by SEQ ID NO: 1 with RNA complementary thereto.

Abstract: Provided is a robot programming device capable of improving the teaching efficiency of a motion program for a fitting work performed by a robot. This robot programming device comprises: a model placement unit for placing a robot model, a first work object model, and a second work object model; a feature acquisition unit for acquiring shape features of the first work object model and the second work object model; a teaching point setting unit for setting, a teaching point for fitting the axis of the first work object model into the hole of the second work object model by the robot model; and a program creation unit for creating a motion program for the robot to perform fitting work for fitting the axis of the first work object model into the hole of the second work object model, using the set teaching point.

Abstract: This robot programming device creates an operational program for a robot that moves while pressing a gripped object, which is gripped by the robot, against a fixed object. The robot programming device includes a model arrangement unit which arranges, in a three-dimensional virtual space, a robot model of the robot, a gripped object model of the gripped object, and a fixed object model of the fixed object, a reference line designation unit which designates a reference line indicating a range, of the outer circumference of the gripped object model, to be pressed against the fixed object, a transfer start point designation unit which designates a transfer start point for transferring the reference line onto the fixed object model, and an operational path creation unit which creates an operational path by transferring the reference line onto the fixed object by using the transfer start point as the start point.

Abstract: The invention provides a robot system that enables easy, efficient, and precise checking through simulation. The invention includes a virtual model display unit configured to place virtual models in a virtual space on a screen and display the virtual models simultaneously with real equipment; a robot program teaching unit configured to perform teaching of a robot program in the virtual space; a real space virtual model display unit configured to display the virtual models and teaching points of the robot program in a real space, based on a positional relationship in the virtual space; and a virtual model placement position correcting unit configured to correct placement positions of the virtual models to match the real equipment in the real space.

Abstract: A press working simulator according to an aspect of the present disclosure includes: a robot program storage section that stores a robot program that instructs a robot how to move; a press program storage section that stores a press program that instructs a press machine how to move; a profile data setting section that causes the press program storage section to store a press program according to profile data that records what position a die is in at each time point when the press machine is actually moved; a model placing section that places three-dimensional models of a workpiece, the robot, and the press machine in a virtual space; a press movement processing section that causes the three-dimensional model of the press machine to move according to the press program; and a robot movement processing section that causes the three-dimensional model of the robot to move according to the robot program.

Abstract: A three-dimensional data generation device includes a virtual space arrangement section for arranging a virtual workpiece and a virtual vision sensor in a virtual space so that a part of the virtual workpiece fits in an imaging range of the virtual vision sensor, an arrangement relationship calculation section for calculating an arrangement relation between the arranged virtual workpiece and the virtual vision sensor, and a partial three-dimensional data generation section for generating partial three-dimensional data representing a partial shape of a workpiece which fits in the imaging range based on the calculated arrangement relationship.

Abstract: A robot programming device is provided with: a robot model movement unit that moves a prescribed movable part of a robot model from a first position to a second position in accordance with instruction content; an arm inversion detection unit that detects whether or not a prescribed state has occurred in which, when the prescribed movable part of the robot model is moved to the second position, any axis constituting the robot model is rotated 180°±a first prescribed value from a rotation angle serving as a reference; and an arm inversion correction unit that, when occurrence of the prescribed state has been detected for any axis constituting the robot model, corrects the posture of the robot model when the prescribed movable part is in the second position so that said axis is not in the prescribed state.

Abstract: A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

Abstract: A robot programming system according to an aspect of the present disclosure includes: a robot program storage section; a press program storage section; a template program setting section that causes the robot program storage section to store, as an initial version of a robot program, a template program that instructs a robot how to move basically; a model placing section that places three-dimensional models of a workpiece, the robot, and a press machine in a virtual space; a robot movement processing section that causes the three-dimensional model of the robot to move; a press movement processing section that causes the three-dimensional model of the press machine to move; an interference detection section that detects interference between the three-dimensional models; and a robot program modification section that modifies a robot program stored in the robot program storage section to prevent interference detected by the interference detection section.

Abstract: A robotic programming apparatus, while using a robot equipped with a spraying device to move the spraying device, for creating an operation program of an application operation for applying a sprayed material sprayed from a nozzle of a spraying device to a member, that includes an operation pattern storage section configured to store a plurality of types of operation patterns each indicating operation of the spraying device that are operation patterns each formed of a continuous trajectory including periodic iteration of a constant pattern, and a pitch interval determination section configured to determine, for one operation pattern of the plurality of types of operation patterns stored in the operation pattern storage section, a pitch interval of the periodic iteration of the constant pattern in the one operation pattern based on a spray parameter representing a spray characteristic of the sprayed material by the nozzle of the spraying device.

Abstract: The present invention provides methods for retaining and expressing physiologically active substances in a target tissue-specific-manner, by administering the physiologically active substances to target submucous tissue. Specifically, the present inventors demonstrated that, when physiologically active substances were directly administered into submucous tissues without using a carrier, the physiologically active substances were effectively and safely retained at the administration sites over long periods without loss and diffusion, and produced the effect acting in a reservoir-like fashion. The physiologically active substances administered as described above were demonstrated to produce the therapeutic effect without having an influence on organs other than the administered organ.

Abstract: As a result of dedicated studies, the present inventors succeeded in discovering, for the first time, that fibrogenesis could be suppressed at the physiological tissue level by inhibiting sulfation at position 4 or 6 of GalNAc, which is a sugar that constitutes sugar chains. Furthermore, the present inventors conducted studies using various disease model animals, and as a result, successfully demonstrated that inhibitors of sulfation at position 4 or 6 of GalNAc had therapeutic effects on diseases caused by tissue fibrogenesis (tissue fibrogenic disorders).

Abstract: An object of the present invention is to develop a novel treatment method for chronic diseases for which conventional treatment methods are either ineffective or for which efficacy is low. The present invention provides a pharmaceutical composition for the treatment and/or prevention of an inflammatory chronic disease that is used in combination with a biological preparation that inhibits leukocyte tissue invasion. The pharmaceutical composition of the present invention contains as an active ingredient thereof siRNA suppressing the expression of CHST15 gene that contains a structure formed by the hybridization of RNA containing the base sequence represented by SEQ ID NO: 1 with RNA complementary thereto.

Abstract: To provide a robot system equipped with an off-line programming device which can create a machining path consisting of a trajectory of any shape, and can reduce the workload required in teaching of the machining path of any shape. Provided is an off-line programming device which teaches a program of a robot equipped with a toll that machines a workpiece arranged within a work space, the off-line programming device including a trajectory information creation unit which creates trajectory information of any 3D shape consisting of at least one layer; and a trajectory information editing unit which edits line segments constituting the trajectory information of the any 3D shape consisting of at least one layer.

Abstract: The present invention relates to a novel esophageal stricture suppressing agent comprising CHST15 siRNA as an effective ingredient.