Abstract: A construction machine includes an attitude sensor that detects the current attitude of an upper turning body; a reference angular acceleration calculation unit that calculates a reference angular acceleration to be generated when an electric turning motor is driven by a torque command value generated according to the operation amount of an operation part; a reference gravity torque calculation unit that, on the basis of the current attitude and the deviation between an actual angular acceleration, calculates a reference gravity torque; a gravity compensation torque calculation unit that calculates a gravity compensation torque for compensating a torque component generated about the turning axis by the gravity in the current attitude; and a correction unit that corrects the torque command value by using the gravity compensation torque so as to cancel the torque component generated about the turning axis by the gravity in the current attitude.

Abstract: Disclosed is a vehicle lamp including: a plurality of light source units, each of which includes a light source that emits a light and a first light guide part that internally guides the light emitted from the light source; and a second light guide part having an outer peripheral surface positioned adjacent to or connected to an outer peripheral surface of the first light guide part. One end surface of the first light guide part in a light guide direction is formed as a light incident surface of the light emitted from the light source, and the second light guide part internally guides and emits the light emitted from the outer peripheral surface of the first light guide part.

Abstract: Disclosed is a vehicle lamp including: a plurality of light source units, each of which includes a light source that emits a light and a first light guide part that internally guides the light emitted from the light source; and a second light guide part having an outer peripheral surface positioned adjacent to or connected to an outer peripheral surface of the first light guide part. One end surface of the first light guide part in a light guide direction is formed as a light incident surface of the light emitted from the light source, and the second light guide part internally guides and emits the light emitted from the outer peripheral surface of the first light guide part.