Abstract: Disclosed is a roaster/roasting machine for roasting an edible plant such as coffee beans. This roaster/roasting machine comprises a roasting chamber for containing a substance to be roasted, the roasting chamber being made of a carbon material (graphite, CC composite, etc.). Thus, the roaster/roasting machine can utilize far-infrared rays for roasting with a simple structure. A roaster comprising an open top container body and a closure member may be used for home roasting. A roasting machine comprising a drum-shaped roasting chamber may be a professional roasting machine. The present invention can be applied to any of a direct-, semi-hot air-, and hot air-heating type roaster/roasting machine. Also disclosed is a method for roasting beans such as coffee beans, the method comprising contacting beans with a heated graphite.

Abstract: A control device includes a main actuator configured to drive a plant through a torque transfer device disposed on a driving side, a load side sub-actuator configured to drive the plant that is disposed on a plant side, and a processor configured to: generate a torque reference input value driving the main actuator and the load side sub-actuator, and cancel out resonance by multiplying the generated torque reference input value by: a first gain including an inertia coefficient, a viscosity coefficient, and a reduction ratio of the torque transfer device on the driving side and on the plant side, and a second gain including: the inertia coefficient, the viscosity coefficient, and the reduction ratio of the torque transfer device on the driving side and on the plant side, and thereby adjusting a ratio of the torque reference input value of the main actuator and the load side sub-actuator.

Abstract: A control device includes first driving means for driving a plant through torque transfer means, placed on a driving side, second driving means for driving the plant, placed on a plant side, reference input generation means for generating a torque reference input value for driving the first and second driving means, and resonance cancellation means for canceling out resonance by multiplying the torque reference input value by a first gain including an inertia coefficient, a viscosity coefficient and a reduction ratio of the torque transfer means on the driving side and on the plant side and multiplying the torque reference input value by a second gain including the inertia coefficient, the viscosity coefficient and the reduction ratio of the torque transfer means on the driving side and on the plant side, and thereby adjusting a ratio of the torque reference input value for the first and second driving means.