Abstract: An object is to facilitate creation of a robot program for moving a workpiece in a container. A program generation apparatus 2 according to the present embodiment includes: reception means 21 for receiving, on a workpiece coordinate system, a start position and a start posture for starting a contact operation for contacting a workpiece stacked in bulk in a container 300, and a movement amount and a posture change amount of the contact operation, and generation means 27 for generating a robot program for a target workpiece in the container, based on the received start position, start posture, movement amount, and posture change amount.

Abstract: A control device for controlling an extraction machine to extract an arbitrary object from a plurality of objects including at least one object on which extraction positions are set includes: a data extraction unit which extracts data from a sensor that measures the appearances of a plurality of objects; a data processing unit which processes the data from the data extraction unit, controls an extraction machine, associates, for each of the extraction positions, the data at the time of accessing the object with the extraction position, and stores the associated result in a list; an extraction position selection unit which selects an extraction position of the object extracted by the extraction machine on the basis of an output of the list; and an extraction machine control unit which controls the extraction machine and extracts the object on the basis of the output from the extraction position selection unit.

Abstract: This device that acquires position data pertaining to a workpiece on the basis of detection data from a shape detection sensor includes: a position data acquisition unit that matches a workpiece model to shape data pertaining to the workpiece included in the detection data, the workpiece model modeling the workpiece and being such that a confirmation region corresponding to a region that cannot be entered is established therein, to thereby acquire the position data; and a position data cancellation unit that invalidates the position data acquired by the position data acquisition unit if shape data pertaining to an object included in the detection data is present in the confirmation region established in the workpiece model that is matched to the shape data pertaining to the workpiece by the position data acquisition unit.

Abstract: A device includes a model acquisition unit that acquires a workpiece model representing a modeled workpiece; a partial model generation unit that generates, using the workpiece model acquired by the model acquisition unit, a partial model representing a limited part of the workpiece model; and a position acquisition unit that matches the partial model generated by the partial model generation unit with shape data detected by a shape detection sensor to acquire the position, in a control coordinate system, of the portion of the workpiece corresponding to the partial model.

Abstract: A nanocrystalline alloy ribbon is provided. In a method for manufacturing a nanocrystalline alloy ribbon, when a non-crystalline alloy ribbon is brought into contact with a heating body and heated, the heating body is heated to a heating temperature Ta of Tx1+80° C. or more and Tx1+230° C. or less, where Tx1° C. is a bccFe crystallization starting temperature of the non-crystalline alloy ribbon measured at a heating rate of 20 K/min.

Abstract: This workpiece retrieval count calculation device comprises: a three-dimensional information acquisition unit for acquiring three-dimensional information pertaining to a subject space in which a plurality of workpieces are loaded; a workpiece shape information acquisition unit for acquiring shape information pertaining to the workpieces; and a workpiece retrieval count calculation unit for calculating a range of workpiece retrieval counts, in consideration of cavities within a workpiece loading region, on the basis of the three-dimensional information pertaining to the subject space and the shape information pertaining to the workpieces from before and after retrieval of the workpieces.

Abstract: A workpiece detection system capable of detecting a workpiece accurately and rapidly comprises: a three-dimensional sensor that measures a three-dimensional shape of an object in a field of view; and an information processing device that uses a visually recognizable shape in each point of view of a three-dimensional model as a search target shape, and, when a matching partial shape that matches the search target shape is found from the three-dimensional shape measured by the three-dimensional sensor, outputs the matching partial shape as a search result. The information processing device excludes a part of the search target shape or a part of the search result on the basis of a preset condition.

Abstract: Conventionally, an operator with expertise was needed to adjust a parameter for collating a workpiece feature of a workpiece imaged by a visual sensor and a workpiece model of the workpiece. A device comprises: an image generation unit that generates image data displaying a workpiece feature of a workpiece imaged by a visual sensor; a position detection unit that uses a parameter for collating a workpiece model with a workpiece feature to obtain, as a detected position, a position of the workpiece in the image data; a matching position acquisition unit that acquires, as a matching position, a position of the workpiece model in the image data when the workpiece model is arranged so as to match the workpiece feature in the image data; and a parameter adjustment unit that adjusts the parameter on the basis of data indicating the difference between the detected position and the matching position.

Abstract: Provided are a determination method and a kit both for determining the possibility of the occurrence of deterioration of a renal function in the future. A method according to one aspect of the present invention involves a step of determining the level of Gal?1-3GalNAc and/or Sia?2-6Gal/GalNAc in a sample collected from a subject. A kit according to one aspect of the present invention includes a lectin capable of binding to Gal?1-3GalNAc and/or Sia?2-6Gal/GalNAc.

Abstract: A three-dimensional shape measurement system includes: an articulated robot having a plurality of axes; at least one three-dimensional vision sensor mounted to the articulated robot and configured to measure a three-dimensional shape of an object to be imaged; a storage unit configured to store distance images representing the three-dimensional shape measured respectively in a plurality of measurement areas including an overlap region; and an integrating unit configured to integrate the plurality of distance images stored in the storage unit in such a manner that parts of the distance images corresponding to the overlap region are superimposed on each other, to thereby generate an integrated distance image.

Abstract: A display control method for use in an information display apparatus including a touch panel configured to accept handwriting input with an indication body, the method includes: accepting audio input including an audio command in a handwriting input state; displaying a trajectory of handwriting accepted by the touch panel; controlling a display mode of the trajectory of handwriting in displaying the trajectory, according to the audio command input and accepted in accepting the audio input.

Abstract: Provided is a more accurate method for determining the possibility that a subject has developed IgA nephropathy. A method of determining the possibility that a subject has developed IgA nephropathy, in accordance with an aspect of the present invention, includes the step of determining the level of at least one glycan in a sample taken from the subject, the at least one glycan being at least one glycan that binds to at least one lectin selected from the group consisting of ACA, MAH, ABA, STL, LEL, WGA, MPA, Jacalin, MAL_I, PNA, ACG, GSL_I_A4, ConA, SSA, AOL, and GSL_II.

Abstract: Provided are a determination method and a kit both for determining the possibility of the occurrence of deterioration of a renal function in the future. A method according to one aspect of the present invention involves a step of determining the level of Gal?1-3GalNAc and/or Sia?2-6Gal/GalNAc in a sample collected from a subject. A kit according to one aspect of the present invention includes a lectin capable of binding to Gal?1-3GalNAc and/or Sia?2-6Gal/GalNAc.

Abstract: A three-dimensional shape measurement system includes: an articulated robot having a plurality of axes; at least one three-dimensional vision sensor mounted to the articulated robot and configured to measure a three-dimensional shape of an object to be imaged; a storage unit configured to store distance images representing the three-dimensional shape measured respectively in a plurality of measurement areas including an overlap region; and an integrating unit configured to integrate the plurality of distance images stored in the storage unit in such a manner that parts of the distance images corresponding to the overlap region are superimposed on each other, to thereby generate an integrated distance image.

Abstract: A workpiece placement system includes a robot for placing a workpiece in a containment area or on a jig; a sensor for measuring a three-dimensional shape of the containment area or jig; a processor for performing a process to determine a workpiece placement position and a workpiece placement posture based on the three-dimensional shape; and a robot controller for controlling the robot based on the workpiece placement position and the workpiece placement posture. The processor obtains a workpiece shape of the workpiece to be placed; retrieves workpiece placement postures chosen by a user; calculates a vacant area of the containment area or jig based on the three-dimensional shape; calculates workpiece placeable areas that satisfy the workpiece shape and the workpiece placement posture in the vacant area; and determines the workpiece placement position and the workpiece placement posture suitable for placement of the workpiece in the workpiece placeable areas.

Abstract: Provided is an article retrieval system including: a sensor that measures the states of articles stored in a storage container; an article detection part for detecting the articles on the basis of the states of the articles measured by the sensor; handling part for retrieving the articles or changing the positions and/or orientations of the articles detected by the article detection part; and a controller that controls the sensor, the article detection part, and the handling part. The controller includes: a space dividing part for dividing the space in which the articles exist according to the states of the articles measured by the sensor; and a switching part for switching at least one of a method of measurement with the sensor, a method of detection with the article detection part, and a method of retrieval with the handling part in each of the spaces divided by the space dividing part.

Abstract: A workpiece placement system includes a robot for placing a workpiece in a containment area or on a jig; a sensor for measuring a three-dimensional shape of the containment area or jig; a processor for performing a process to determine a workpiece placement position and a workpiece placement posture based on the three-dimensional shape; and a robot controller for controlling the robot based on the workpiece placement position and the workpiece placement posture. The processor obtains a workpiece shape of the workpiece to be placed; retrieves workpiece placement postures chosen by a user; calculates a vacant area of the containment area or jig based on the three-dimensional shape; calculates workpiece placeable areas that satisfy the workpiece shape and the workpiece placement posture in the vacant area; and determines the workpiece placement position and the workpiece placement posture suitable for placement of the workpiece in the workpiece placeable areas.

Abstract: Provided is an article retrieval system including: a sensor that measures the states of articles stored in a storage container; an article detection part for detecting the articles on the basis of the states of the articles measured by the sensor; handling part for retrieving the articles or changing the positions and/or orientations of the articles detected by the article detection part; and a controller that controls the sensor, the article detection part, and the handling part. The controller includes: a space dividing part for dividing the space in which the articles exist according to the states of the articles measured by the sensor; and a switching part for switching at least one of a method of measurement with the sensor, a method of detection with the article detection part, and a method of retrieval with the handling part in each of the spaces divided by the space dividing part.

Abstract: According to the present invention, there is provided a means of expressing and displaying a protein on the cell surface of a bifidobacterium. In the gene for expressing a protein on the surface of a bifidobacterium of the present invention, a gene coding for a bifidobacterium-derived GNB/LNB substrate-binding membrane protein and a gene coding for the target protein or peptide are linked in this order from the 5? end side. Thus, a bifidobacterium transformed by introducing the gene for expressing a protein on the surface of a bifidobacterium of the present invention expresses the target protein or peptide on the surface thereof. When the target protein or peptide is an antigen protein or an antigen peptide, the transformed bifidobacterium of the present invention is useful as an oral vaccine.

Abstract: According to the present invention, there is provided a means of expressing and displaying a protein on the cell surface of a bifidobacterium. In the gene for expressing a protein on the surface of a bifidobacterium of the present invention, a gene coding for a bifidobacterium-derived GNB/LNB substrate-binding membrane protein and a gene coding for the target protein or peptide are linked in this order from the 5? end side. Thus, a bifidobacterium transformed by introducing the gene for expressing a protein on the surface of a bifidobacterium of the present invention expresses the target protein or peptide on the surface thereof. When the target protein or peptide is an antigen protein or an antigen peptide, the transformed bifidobacterium of the present invention is useful as an oral vaccine.