Abstract: A trajectory generation system capable of deciding a high-quality trajectory is provided. The trajectory generation system includes an environmental feature information acquisition unit and a trajectory generation unit. The environmental feature information acquisition unit acquires environmental feature information that indicates features of an environment around a moving object. The trajectory generation unit inputs a start state and a target state of the moving object and environmental feature information into a learned model that is generated by machine learning in advance and is used to generate a trajectory along which the moving object can move in the environment, and generates, for each of a plurality of different values of a first parameter that is set in the learned model and can be changed, a trajectory using the learned model.

Abstract: An ethylene-vinyl alcohol copolymer composition contains: (A) an ethylene-vinyl alcohol copolymer; (B) a styrene derivative; and (C) an iron compound; wherein the iron compound (C) is present in an amount of 0.01 to 5 ppm on a metal basis based on the weight of the ethylene-vinyl alcohol copolymer composition. The ethylene-vinyl alcohol copolymer composition has ultraviolet absorbability even without a known ultraviolet-absorbing agent blended therein, and is excellent in heat stability and reduced susceptibility to coloration.

Abstract: A melt-formable ethylene-vinyl alcohol copolymer composition contains: (A) an ethylene-vinyl alcohol copolymer; (B) an alkali metal compound; and (C) an iron compound; wherein the weight ratio of the alkali metal compound (B) to the iron compound (C) on a metal basis is 10 to 100,000. The viscosity of the melt-formable ethylene-vinyl alcohol copolymer composition decreases with time during melt forming, rendering it excellent in long-run formability.

Abstract: A grasping apparatus 1 includes: an image data acquisition unit 16; a robot arm 11; a control unit 12; and a grasping position determination unit 18 configured to determine, using the image data of photographed flexible objects in a folded and stacked state that is acquired by the image data acquisition unit 16, whether or not a part of the flexible objects in that image data is suitable for being grasped. The control unit 12 controls the robot arm 11 so as to deform ends of a top surface of the flexible object at the top of the stacked flexible objects. The grasping position determination unit 18 determines whether or not a part is suitable for being grasped using the image data of the photographed flexible object the ends of the top surface of which have been deformed.

Abstract: Provided is an ethylene-vinyl alcohol copolymer resin composition comprising an ethylene-vinyl alcohol copolymer (X) and a metal compound, wherein the composition satisfies the following formula (1), as an ethylene-vinyl alcohol copolymer resin composition having an excellent gas barrier property in the high humidity environment, particularly an excellent oxygen barrier property in the high humidity environment: ?A2=A2-A2,0>0??(1) where A2 represents the second virial coefficient when the ethylene-vinyl alcohol copolymer resin composition is subjected to static light scattering measurement using hexafluoroisopropanol as a solvent, and A2,0 represents the second virial coefficient of the ethylene-vinyl alcohol copolymer (X) in the ethylene-vinyl alcohol copolymer resin composition measured in the same manner.

Abstract: An ethylene-vinyl alcohol copolymer resin composition containing an ethylene-vinyl alcohol copolymer and a metal compound satisfying the following general formula (1), as an ethylene-vinyl alcohol copolymer resin composition having an excellent gas barrier property in the high humidity environment, particularly an excellent oxygen barrier property in the high humidity environment: Ma(OH)bAn ?(2a-b)/n ??(1) wherein M is a metal species, A is an anionic ligand having a valence of n? and excluding a hydroxy ligand and O (oxo ligand), n is an integer not less than 1, and a and b are each a number greater than zero and satisfy an expression a/b=0.1 to 10.

Abstract: An ethylene-vinyl alcohol copolymer resin composition containing an ethylene-vinyl alcohol copolymer and a metal compound, and having a peak at 2?=2 to 15° when measured by wide-angle X-ray diffraction using CuK? ray, as an ethylene-vinyl alcohol copolymer resin composition having an excellent gas barrier property in a high humidity environment, particularly an excellent oxygen barrier property in a high humidity environment.

Abstract: A resin composition containing a polyvinyl alcohol resin, wherein there are two different components when methylene carbon at 44 to 46 ppm is separated into components according to a 13C spin-lattice relaxation time T1C, one of the two different components having a relaxation time T1C of not greater than 50 seconds as observed when the resin composition is analyzed through solid-state NMR measurement by placing a 4-mm ? zirconia rotor filled with the resin composition in a 9.4-T static magnetic field at a 1H resonance frequency of 400 MHz and a 13C resonance frequency of 100 MHz, and rotating the zirconia rotor at 5,000 Hz at 23° C. under magic angle spinning conditions. The resin composition is excellent in gas barrier property, particularly in oxygen barrier property, in a high humidity environment.

Abstract: A resin composition containing a hydrophilic resin and a metal compound, and satisfies the following expression (1) when being formed into a film: ?1??1?1??(1) wherein ?1 is an average metal atom concentration (%) in a portion of the film in a depth range of 0 to 9 nm from a film surface, and ?1 is an average metal atom concentration (%) in a portion of the film in a depth range of 12 to 21 nm from the film surface. The resin composition is excellent in gas barrier property, particularly in oxygen barrier property, in a high humidity environment.

Abstract: A resin composition contains a hydrophilic resin and a metal compound, and has an X-ray diffraction peak at 2?=2 to 15° in an X-ray diffraction pattern as measured by wide angle X-ray diffraction using CuK? radiation, and a resin composition contains a hydrophilic resin and a metal compound, wherein the metal compound satisfies the following general formula (1): Ma(OH)bAn?(2a?b)/n ??(1) wherein M is a metal species, A is an anionic ligand having a valence of n- and excluding a hydroxy ligand and O (oxo ligand), n is an integer not less than 1, and a and b are numbers greater than zero and satisfy an expression a/b=0.1 to 10. The resin composition exhibits excellent gas barrier property in a high humidity environment, particularly in oxygen barrier property in the high humidity environment.

Abstract: An ethylene-vinyl alcohol copolymer composition contains: (A) an ethylene-vinyl alcohol copolymer; (B) a styrene derivative; and (C) an iron compound; wherein the iron compound (C) is present in an amount of 0.01 to 5 ppm on a metal basis based on the weight of the ethylene-vinyl alcohol copolymer composition. The ethylene-vinyl alcohol copolymer composition has ultraviolet absorbability even without a known ultraviolet-absorbing agent blended therein, and is excellent in heat stability and reduced susceptibility to coloration.

Abstract: A melt-formable ethylene-vinyl alcohol copolymer composition contains: (A) an ethylene-vinyl alcohol copolymer; (B) an alkali metal compound; and (C) an iron compound; wherein the weight ratio of the alkali metal compound (B) to the iron compound (C) on a metal basis is 10 to 100,000. The viscosity of the melt-formable ethylene-vinyl alcohol copolymer composition decreases with time during melt forming, rendering it excellent in long-run formability.

Abstract: A grasping apparatus 1 includes: an image data acquisition unit 16; a robot arm 11; a control unit 12; and a grasping position determination unit 18 configured to determine, using the image data of photographed flexible objects in a folded and stacked state that is acquired by the image data acquisition unit 16, whether or not a part of the flexible objects in that image data is suitable for being grasped. The control unit 12 controls the robot arm 11 so as to deform ends of a top surface of the flexible object at the top of the stacked flexible objects. The grasping position determination unit 18 determines whether or not a part is suitable for being grasped using the image data of the photographed flexible object the ends of the top surface of which have been deformed.

Abstract: A placement determination system (21) includes a placement object specifying unit (22) that specifies a placement object, a resting surface information acquiring unit (24) that obtains the shape of a resting surface of the placement object, a receiving surface information acquiring unit (27) that obtains the shape of a receiving surface of a receiving object on which the placement object is to be placed, and a placement determining unit (28) that compares the shape of the resting surface with the shape of the receiving surface, and determines whether the placement object can be placed on the receiving object.

Abstract: This invention relates to urea derivatives and salts thereof which is useful as an active ingredient of pharmaceutical preparations. The urea derivatives of the present invention has an excellent activity as VR1 antagonist and useful for the prophylaxis and treatment of diseases associated with VR1 activity, in particular for the treatment of urge urinary incontinence, overactive bladder, chronic pain, neuropathic pain, postoperative pain, rheumatoid arthritic pain, neuralgia, neuropathies, algesia, nerve injury, ischaemia, neurodegeneration, stroke, incontinence and/or inflammatory disorders.

Abstract: A medicament which contains a urea derivative or a salt thereof as an active ingredient is disclosed. The medicament has an excellent activity as VR1 antagonist and useful for the prophylaxis and treatment of diseases associated with VR1 activity, in particular for the treatment of urge urinary incontinence, overactive bladder, chronic pain, neuropathic pain, postoperative pain, rheumatoid arthritic pain, neuralgia, neuropathies, algesia, nerve injury, ischaemia, neurodegeneration, stroke, incontinence and/or inflammatory disorders.

Abstract: An amine derivative, its tautomeric or stereoisomeric form, or a salt thereof which has vanilloid receptor 1 (VR1) antagonistic activity, is disclosed. The amine derivative has an excellent activity as VR1 antagonist and useful for the prophylaxis and treatment of diseases associated with VR1 activity, in particular for the treatment of urinary incontinence, overactive bladder, chronic pain, neuropathic pain, postoperative pain, rheumatoid arthritic pain, neuralgia, neuropathies, algesia, nerve injury, ischaemia, neurodegeneration, stroke, incontinence and/or inflammatory disorders.