Abstract: A light detector is configured such that a light receiving portion having APDs and a peripheral portion are provided on a first principal surface of a p-type semiconductor substrate, and further includes a back electrode provided on a second principal surface of the semiconductor substrate and a p-type first separation portion provided between the light receiving portion and the peripheral portion. The APD has, on a first principal surface side, an n-type region and a p-epitaxial layer contacting the n-type region in a Z-direction. The peripheral portion has an n-type MISFET provided at a p-well and an n-well provided to surround entire side and bottom portions of the p-well.

Abstract: The present invention provides an unmanned watercraft capable of sufficiently cooling equipment that generates a large amount of heat, capable of cooling such equipment without using energy in the watercraft, and capable of improving mean time between failures (MTBF) of a cooling device. An unmanned watercraft 1 has a cooling structure CS for cooling a central processing unit CPU1 for image recognition and a central processing unit CPU2 for control that constitute a central processing unit CPU as a heat-generating body. The cooling structure CS includes a waterproof container 7 that accommodates the heat-generating body (an insulating envelope that surrounds the heat-generating body in an electrically insulated state). The waterproof container 7 is arranged outside a submerged part 3 of the unmanned watercraft 1 so as to be in contact with water present outside the unmanned watercraft 1, the submerged part 3 being submerged in water.

Abstract: Disclosed is an intravascular indwelling stent that include a stent main body and a polymer film covering the stent main body. Through-holes are formed in the polymer film. The through-holes connect an inside and an outside of a cylinder of the intravascular indwelling stent to each other and each have an opening size of 0.02 mm or more and 0.2 mm or less. An opening occupancy, which is the ratio of the opening area of all the through-holes included in a unit area of the outer surface of the polymer film to the unit area, is 25% or more and 41% or less. A surface density of boundary, which is the ratio of the length of opening edges of all the through-holes included in a unit area of the outer surface of the polymer film to the unit area, is 9.5/mm or more and 30/mm or less.

Abstract: The present invention provides an unmanned watercraft capable of sufficiently cooling equipment that generates a large amount of heat, capable of cooling such equipment without using energy in the watercraft, and capable of improving mean time between failures (MTBF) of a cooling device. An unmanned watercraft 1 has a cooling structure CS for cooling a central processing unit CPU1 for image recognition and a central processing unit CPU2 for control that constitute a central processing unit CPU as a heat-generating body. The cooling structure CS includes a waterproof container 7 that accommodates the heat-generating body (an insulating envelope that surrounds the heat-generating body in an electrically insulated state). The waterproof container 7 is arranged outside a submerged part 3 of the unmanned watercraft 1 so as to be in contact with water present outside the unmanned watercraft 1, the submerged part 3 being submerged in water.

Abstract: A controller for the motion control of a robot, comprises: a target input interface for supplying the controller with information about a target to be reached, a predicting module predicting at least one future state of the controlled robot using an internal model of the robot, a planning module for planning future states of the robot, wherein the planning starts from a predicted state supplied from the predicting module, a reactive controller, for outputting motor commands in order to make the controlled robot reach a target, and a target arbitrator for selecting the target output by the predicting module or the output from the planning module.

Abstract: A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher.

Abstract: A method for controlling a robot having at least one visual sensor. A target for a motion of the robot is defined. A motion control signal adapted for the robot reaching the target is calculated. A collision avoidance control signal based on the closest points of segments of the robot and a virtual object between the visual sensing means and the target is calculated. The motion control signal and the collision avoidance control signal are weighted and combined. The weight of the motion control signal is higher when a calculated collision risk is lower. The motion of the robot is controlled according to the combined signal so that no segment of the robot enters the space defined by the virtual object.

Abstract: A controller for the motion control of a robot, comprises: a target input interface for supplying the controller with information about a target to be reached, a predicting module predicting at least one future state of the controlled robot using an internal model of the robot, a planning module for planning future states of the robot, wherein the planning starts from a predicted state supplied from the predicting module, a reactive controller, for outputting motor commands in order to make the controlled robot reach a target, and a target arbitrator for selecting the target output by the predicting module or the output from the planning module.

Abstract: A robot controller including a multitude of simultaneously functioning robot controller units. Each robot controller unit is adapted to receive an input signal, receive top-down information, execute an internal process or dynamics, store at least one representation, send top-down information, issue motor commands wherein each motor command has a priority. The robot controller selects one or several motor commands issued by one or several units based on their priority. Each robot controller unit may read representations stored in other robot controller units.

Abstract: A method for controlling a robot having at least one visual sensor. A target for a motion of the robot is defined. A motion control signal adapted for the robot reaching the target is calculated. A collision avoidance control signal based on the closest points of segments of the robot and a virtual object between the visual sensing means and the target is calculated. The motion control signal and the collision avoidance control signal are weighted and combined. The weight of the motion control signal is higher when a calculated collision risk is lower. The motion of the robot is controlled according to the combined signal so that no segment of the robot enters the space defined by the virtual object.

Abstract: A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher.

Abstract: The antiallergic agent, antiinflammatory agent, anti-atopic dermatitis agent or antipsoriatic agent of the present invention is efficacious in preventing, reducing or relieving symptoms due to inflammation or allergic reactions, and in particular, it is useful in preventing, reducing or relieving the symptoms of atopic dermatitis and psoriasis.

Abstract: The antiallergic agent, antiinflammatory agent, anti-atopic dermatitis agent or antipsoriatic agent of the present invention is efficacious in preventing, reducing or relieving symptoms due to inflammation or allergic reactions, and in particular, it is useful in preventing, reducing or relieving the symptoms of atopic dermatitis and psoriasis.

Abstract: The antiallergic agent, antiinflammatory agent, anti-atopic dermatitis agent or antipsoriatic agent of the present invention is efficacious in preventing, reducing or relieving symptoms due to inflammation or allergic reactions, and in particular, it is useful in preventing, reducing or relieving the symptoms of atopic dermatitis and psoriasis.