Abstract: A grain oriented electrical steel sheet includes a base steel sheet, a glass film, and a tension-insulation coating. When a glow discharge emission spectroscopy is conducted from a surface of the glass film toward a depth direction, an analysis starting time Ts, a time TAlp at which Al shows a maximum emission intensity, an Al emission intensity F(TAlp) at the TAlp, a time TSip at which Si shows a maximum emission intensity, and an Al emission intensity F(TSip) at the TSip satisfy 0.05?F(TSip)/F(TAlp)?0.50 and 2.0?(TAlp?Ts)/(TSip?Ts)?5.0.

Abstract: A robot control device acquires an actual value of a position and a posture of a robot and an actual value of an external force applied to the robot, executes a robot model including a state transition model that, based on the actual value of the position and the posture at a certain time and an action command that can be given to the robot, calculates a predicted value of the position and the posture of the robot, and an external force model that calculates a predicted value of an external force applied to the robot, calculates a reward based on an error of the position and the posture and the predicted value of the external force, generates and gives a plurality of candidates for the action command to the robot model for each control cycle, based on a reward calculated corresponding to each of the plurality of candidates for the action command, determines an action command that maximizes a reward, and updates the external force model so as to reduce a difference between the predicted value of the external f

Abstract: This non-oriented electrical steel sheet includes a base material having a chemical composition including Si: 3.7 to 4.8%, wherein a recrystallization rate is less than 100% in terms of an area fraction, the following Formula (i) and Formula (ii) are satisfied, and the tensile strength is more than 700 MPa. 4.3?Si+sol. Al+0.5×Mn?4.9??(i) (B50(0°)+2×B50(45°)+B50(90°))/4?1.

Abstract: This learning device comprises: a creation unit which creates a state transition model that predicts a next state of a robot on the basis of a measured robot state and a command for the robot, and a collection state transition model including a collection unit that collects the prediction results; a command generation unit which executes, for each control period, processes for inputting the measured robot state, generating candidates of the command for the robot, acquiring a robot state predicted from the robot state and the candidates of the command for the robot by using the collection state transition model 20, and generating and outputting a command for maximizing a reward corresponding to the acquired state; and a learning unit which updates the collection state transition model in order to reduce an error between a next robot state predicted in correspondence with the output command and a robot state measured in correspondence with the next state.

Abstract: A table tennis robot (traveling body) includes a chassis and at least three drive modules, each of which includes an omni wheel driven by a respective motor and each of which is installed at the chassis, and includes an installation space provided at a central portion of the chassis and configured to be installed with an auxiliary device.

Abstract: A joint structure includes a locking mechanism for switching a free state in which a second element is independent from a first element and capable of moving, and a locked state in which the second element is fixed to the first element. The locking mechanism includes a first member joined to the first element, a second member joined to the second element, and a flexible wire-shaped member in which one end thereof is attached to the second member and another end thereof is led out to the outside of the joint structure via a through hole provided in the first member. The joint structure enters the locked state by the wire-shaped member being pulled to bring the second member into contact with the first member, and enters the free state by the wire-shaped member being fed to separate the second member from the first member.

Abstract: A joint structure for connecting a first element and a second element included in a robot includes a Stewart platform that controls a position and/or an angle of the second element relative to the first element. The Stewart platform includes a first member to be joined to the first element, a second member to be joined to the second element, multiple legs connecting the first member and the second member, a driver that changes an effective length of each of the legs to change a position and/or an angle of the second member relative to the first member, and a soft structure that elastically changes the effective length of each of the legs in response to an external force applied to the second member and restores the effective length of each of the legs in response to the external force being removed.

Abstract: A control apparatus of a robot may include a state obtaining unit configured to obtain state observation data including flexible related observation data, which is observation data regarding a state of at least one of a flexible portion, a portion of the robot on a side where an object is gripped relative to the flexible portion, and the gripped object; and a controller configured to control the robot so as to output an action to be performed by the robot to perform predetermined work on the object, in response to receiving the state observation data, based on output obtained as a result of inputting the state observation data obtained by the state obtaining unit to a learning model, the learning model being learned in advance through machine learning and included in the controller.

Abstract: A joint structure for connecting a first element and a second element included in a robot includes a Stewart platform that controls a position and/or an angle of the second element relative to the first element. The Stewart platform includes a first member to be joined to the first element, a second member to be joined to the second element, multiple legs connecting the first member and the second member, a driver that changes an effective length of each of the legs to change a position and/or an angle of the second member relative to the first member, and a soft structure that elastically changes the effective length of each of the legs in response to an external force applied to the second member and restores the effective length of each of the legs in response to the external force being removed.

Abstract: A joint structure includes a locking mechanism for switching a free state in which a second element is independent from a first element and capable of moving, and a locked state in which the second element is fixed to the first element. The locking mechanism includes a first member joined to the first element, a second member joined to the second element, and a flexible wire-shaped member in which one end thereof is attached to the second member and another end thereof is led out to the outside of the joint structure via a through hole provided in the first member. The joint structure enters the locked state by the wire-shaped member being pulled to bring the second member into contact with the first member, and enters the free state by the wire-shaped member being fed to separate the second member from the first member.

Abstract: A control apparatus of a robot that includes a flexible portion and a locking mechanism for fixing the flexible portion, the control apparatus including: a lock control unit configured to control locking and unlocking of the flexible portion; and an operation control unit configured to control operation of the robot using different types of control policies depending on whether the flexible portion is locked or unlocked. With this control apparatus, it is possible to effectively control a robot in which locking and unlocking of the flexible portion can be switched.

Abstract: A control apparatus of a robot may include a state obtaining unit configured to obtain state observation data including flexible related observation data, which is observation data regarding a state of at least one of a flexible portion, a portion of the robot on a side where an object is gripped relative to the flexible portion, and the gripped object; and a controller configured to control the robot so as to output an action to be performed by the robot to perform predetermined work on the object, in response to receiving the state observation data, based on output obtained as a result of inputting the state observation data obtained by the state obtaining unit to a learning model, the learning model being learned in advance through machine learning and included in the controller.

Abstract: Wiring part 12 is provided on one side 11a of semiconductor device 11. Wiring part 12 has at least one of interface circuit 13 connecting terminals on semiconductor device 11 and interface circuit 14 connecting terminal 18 on semiconductor device 11 and input/output terminal 19 in the semiconductor module.

Abstract: Wiring part 12 is provided on one side 11a of semiconductor device 11. Wiring part 12 has at least one of interface circuit 13 connecting terminals on semiconductor device 11 and interface circuit 14 connecting terminal 18 on semiconductor device 11 and input/output terminal 19 in the semiconductor module.

Abstract: A metal-ceramic bonded material is described wherein a metal member comprising a metal film and an oxide film as an upper layer is bonded to a ceramic member by a heat-resistant adhesive so that the surface of the oxide film of said metal member faces the surface of the ceramic member.

Abstract: A gas component detector having a gas component detecting element made of sintered metal oxide for indicating an electrical resistance according to the components of a gas to be detected. A pair of electrodes transmit the electrical resistance indicated by the gas component detecting element and a ceramic tube has through-holes into which said pair of electrodes are inserted. The ceramic tube has a cylindrical ceramic heater which is prepared by having a piece of wet ceramic sheet on which a print pattern is formed with metal paste for forming a heat generator wound on and bonded to the outer wall of the ceramic tube before sintering. The heater is then sintered to be integral with the ceramic tube.

Abstract: A gas detecting element including a semiconductor wafer formed of a transition-metal oxide with an electrode layer bonded to both sides of the wafer and a protective layer overlaid on the surface of the electrode layer. A metal lead wire is attached to each electrode layer by means of an electrically conductive adhesive wherein the region at which the metal lead wire is bonded to the electrode layer is reinforced by an insulating adhesive that covers the region. A process for producing such a gas detecting element is also disclosed.

Abstract: A gas detecting element including a semiconductor wafer formed of a transition-metal oxide with an electrode layer bonded to both sides of the wafer and a protective layer overlaid on the surface of the electrode layer. A metal lead wire is attached to each electrode layer by means of an electrically conductive adhesive wherein the region at which the metal lead wire is bonded to the electrode layer is reinforced by an insulating adhesive that covers the region. A process for producing such a gas detecting element is also disclosed.

Abstract: A seal structure consisting of a ceramic base and a low-expansion metallic material bonded by a low-melting glass particularly useful for large scale integrated circuit (LSI) applications is disclosed. When using a high alumina ceramics containing 65 to 92% of Al.sub.2 O.sub.3 by weight as a ceramic, the thermal coefficients of expansion are best matched while maintaining a comparatively low dielectric constant by using a composition consisting of 60 to 85% lead borate glass, 10 to 30% .beta.-eucryptite and 0.5 to 15% zircon as a low-melting sealing glass.