Abstract: A soft magnetic alloy includes a main component of (Fe(1?(?+?))X1?X2?)(1?(a+b+c+d+e))MaBbPcSidCe. X1 is one or more of Co and Ni. X2 is one or more of Al, Mn, Ag, Zn, Sn, As, Sb, Cu, Cr, Bi, N, O, and rare earth elements. M is one or more of Nb, Hf, Zr, Ta, Mo, W, and V. 0.020?a?0.14 is satisfied. 0.020<b?0.20 is satisfied. 0?d?0.060 is satisfied. ??0 is satisfied. ??0 is satisfied. 0??+??0.50 is satisfied. c and e are within a predetermined range. The soft magnetic alloy has a nanohetero structure or a structure of Fe based nanocrystallines.

Abstract: It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus includes: a sensor data output unit that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot is controlled, the sensor data representing a state of work of the robot; and a determination unit that determines a quality of the work of the robot by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit.

Abstract: It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus (30) includes: a sensor data output unit (31) that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot (1) is controlled, the sensor data representing a state of work of the robot (1); and a determination unit (32) that determines a quality of the work of the robot (1) by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit (31).

Abstract: If it is attempted to produce a polymer polyol at a high concentration, there will be a problem such that during polymerization of a monomer to form fine polymer particles, particles are likely to aggregate one another to form aggregates, and storage stability of the polymer polyol tends to deteriorate. A method for producing a polymer polyol is presented which comprises polymerizing at least one type of ethylenically unsaturated monomer together with a seed particle dispersion, in a polyol, wherein the seed particle dispersion is one obtained by polymerizing an ethylenically unsaturated monomer in the presence of an ethylenically unsaturated macromonomer, a solvent and a chain transfer agent, and the ethylenically unsaturated macromonomer is a reaction product of a specific polyol, an isocyanate compound and an ethylenically unsaturated monomer having a hydroxy group.

Abstract: An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.