Abstract: A control apparatus includes a hand controller that controls a hand capable of grasping an object to be grasped and including a first finger and a second finger. The hand controller obtains, from at least one sensor linked to the first finger and the second finger, a plurality of pieces of force information indicating force acting on the first finger and the second finger from the object to be grasped. The hand controller determines, on a basis of a relationship between the plurality of pieces of force information, whether contact areas of the first finger and the second finger in contact with the object to be grasped are appropriate.

Abstract: An interference determination device includes a controller that determines interference between a robot and an object. The controller obtains a plurality of vertices of at least one object within a motion range of the robot in a real space and positional information regarding the plurality of vertices. The controller determines interference between the robot and the object in the real space on a basis of the plurality of vertices and the positional information.

Abstract: A robot control apparatus includes a control unit that generates, as control information, information regarding an amount of movement for controlling a motion of a robot and that outputs the control information, an information obtaining unit that obtains, as actual physical information, physical information indicating a result of an actual motion of the robot based on the control information, a motion estimation unit that outputs information output from a model plant, which is obtained by modeling an ideal state of the robot, by inputting the control information to the model plant as estimated physical information, which is obtained when the robot is assumed to move ideally on a basis of the control information, and a state estimation unit that estimates a state of the robot on a basis of the actual physical information and the estimated physical information. The control unit generates the control information further on a basis of a result of the estimation of the state of the robot.

Abstract: A connection joint includes: a first sleeve that is formed such that an end portion of a first tube arranged in an endoscope is externally fitted to the first sleeve; a first pusher configured to apply bias to the first sleeve from an outer peripheral side of the first sleeve; and a first bias releasing portion configured to press the first pusher in an outer peripheral direction of the first sleeve to release the bias.

Abstract: A toner contains toner particles. The toner particles each include a toner mother particle containing a binder resin and an external additive attached to a surface of the toner mother particle. The external additive contains titanate compound particles doped with lanthanum and a group 5 element in the periodic table as external additive particles. The amount of the lanthanum is at least 1.50% by mass relative to the total mass of the titanate compound particles. The amount of the group 5 element in the periodic table is at least 0.01% by mass and no greater than 0.60% by mass relative to the total mass of the titanate compound particles.

Abstract: A toner contains toner particles. The toner particles each include a toner mother particle containing a binder resin and an external additive attached to a surface of the toner mother particle. The external additive contains titanate compound particles doped with lanthanum and a group 5 element in the periodic table as external additive particles. The amount of the lanthanum is at least 1.50% by mass relative to the total mass of the titanate compound particles. The amount of the group 5 element in the periodic table is at least 0.01% by mass and no greater than 0.60% by mass relative to the total mass of the titanate compound particles.

Abstract: A compound that can be used as an agent for treating a disease associated with an EP1 receptor, in particular a lower urinary tract symptom. It was confirmed that a sulfonamide compound having an amide structure and characterized by a chemical structure in which a carbon atom in the amide bonds to the N atom in sulfonamide through lower alkylene, or a salt thereof, has a potent EP1 receptor antagonistic activity, accomplishing the present invention. Since the sulfonamide compound of the present invention or a pharmaceutically acceptable salt thereof has a potent EP1 receptor antagonistic activity, it is useful as an agent for treating a disease associated with an EP1 receptor, in particular, a lower urinary tract symptom.

Abstract: [Object] A compound that can be used as an agent for treating a disease associated with an EP1 receptor, in particular, a lower urinary tract symptom. [Means for Solution] It was confirmed that a sulfonamide compound having an amide structure and characterized by a chemical structure in which a carbon atom in the amide bonds to the N atom in sulfonamide through lower alkylene, or a salt thereof, has a potent EP1 receptor antagonistic activity, accomplishing the present invention. Since the sulfonamide compound of the present invention or a pharmaceutically acceptable salt thereof has a potent EP1 receptor antagonistic activity, it is useful as an agent for treating a disease associated with an EP1 receptor, in particular, a lower urinary tract symptom.

Abstract: Objective sequence data (10) which is primary sequence information on an objective protein is entered in an interaction site predicting device by the user. A secondary structure prediction simulation is executed on the objective sequence data (10) entered for secondary structure prediction programs (20a to 20d) that predict a secondary structure of a protein from primary sequence information of the protein. Results of secondary structure prediction (30a to 30d) from the respective secondary structure prediction programs (20a to 20d) are compared (60). Based on the comparison result, frustration of a local portion in the primary sequence information of the objective protein is calculated (70). An interaction site of the objective protein is predicted from the calculated frustration of the local portion (80).