Abstract: A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.

Abstract: Provided is a method for producing effector cells expressing a desired specificity determining region. In this method, material cells that have a cassette deck structure with a cassette tape gene comprising a gene encoding a marker protein in their genome, wherein the material cells can be differentiated into the effector cells, and wherein the marker protein can be expressed in the effector cells or progenitor cells thereof when the material cells are differentiated into the effector cells or progenitor cells thereof are provided first. The material cells are proliferated, the proliferated cells are differentiated into the effector cells, and then, the gene encoding the marker protein in the effector cells is exchanged with a gene encoding a protein that contribute the desired specificity.

Abstract: A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.

Abstract: An autonomous vehicle capable of executing a task corresponding to a conveyance instruction by sound is provided. The autonomous vehicle docks with a conveyance target and conveys the conveyance target. The autonomous vehicle includes a docking mechanism configured to dock with the conveyance target, an audio input device, and a controller. The controller is configured to control the docking mechanism to dock with the conveyance target that is identified based on a conveyance instruction acquired via the audio input device, and to control conveyance of the docked conveyance target to a conveyance destination position that is identified based on the conveyance instruction.

Abstract: An autonomous vehicle with a reduced risk of collision during conveyance is provided. The autonomous vehicle docks with a conveyance target and conveys the conveyance target. The autonomous vehicle includes a docking mechanism configured to dock with the conveyance target, a sensor configured to acquire object position data related to a position of an object within a measurement range, and a controller configured to control, based on the object position data acquired from the sensor, the conveyance performed by the autonomous vehicle docked with the conveyance target. The measurement range of the sensor includes at least an area above the autonomous vehicle.

Abstract: An optical coherent transceiver includes a transmitter and a receiver that share laser light. The transmitter includes a pair of parent MZIs in a modulator, which are parent MZIs configured to perform quadrature modulation on the laser light according to a bias voltage, and two pairs of child MZIs in the modulator, which are child MZIs configured to perform phase modulation on the laser light according to the bias voltage. The transmitter includes a control circuit configured to control the bias voltage to be applied to the parent MZIs and the child MZIs. The control circuit is configured to, when turning light output of the transmitter off, with input of a data signal being set off, control the bias voltage such that a phase difference between the parent MZIs is around 90 degrees and a phase difference between the child MZIs in each of the pairs is 180 degrees.

Abstract: A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.

Abstract: A trajectory generation system includes a computing unit that generates a trajectory on which a mobile body or a gripper moves from a start position to a target position, and an evaluating unit that evaluates a plurality of trajectory candidates. The computing unit generates the trajectory candidates leading to a target area including the target position and its vicinity, with a plurality of degrees of freedom associated with predetermined grip conditions, within at least one of a range in which the candidates can be computed in a predetermined period, a range in which they can be computed in a predetermined processing amount, and a range in which a predetermined number of trajectory candidates can be computed. The evaluating unit conducts evaluation of the trajectory candidates generated, based on an evaluation item, and the computing unit generates the trajectory, using one trajectory candidate selected based on the evaluation.

Abstract: A program writing method in which a program is written into a flash ROM that a microcomputer includes therein includes: a generating step for generating a version representative value indicating a version of a source directory from predetermined types of files included in the source directory; an additionally writing step for additionally writing the version representative value into a source file included in the source directory; and a program writing step for writing a program corresponding to the source directory generated by compiling the source file into which the version representative value has been additionally written into the flash ROM.

Abstract: Provided is a method for producing a cell incorporating an antigen specific receptor gene, which comprises the step of introducing an exogenous TCR or CAR gene into a material cell so that the introduced gene is expressed under the T cell receptor expression control system of the material cell.

Abstract: A position estimation system and the like that prevent accuracy of self-position information from decreasing is provided. A position estimation system 100 according to the present disclosure includes a first sensor configured to output first data including data of an angular velocity of a wheel driven when a moving apparatus 10 moves. The position estimation system further includes a second sensor configured to output second data including position data of the moving apparatus 10 detected not according to the angular velocity of the wheel or data concerning a change in a posture of the moving apparatus 10. The position estimation system further includes a self-position estimation unit configured to set a priority of the first data according to a value of the angular velocity of the wheel and integrate the first data with the second data based on the set priority to estimate a position of the moving apparatus 10.

Abstract: A trajectory generation system includes a computing unit that generates a trajectory on which a mobile body or a gripper moves from a start position to a target position, and an evaluating unit that evaluates a plurality of trajectory candidates. The computing unit generates the trajectory candidates leading to a target area including the target position and its vicinity, with a plurality of degrees of freedom associated with predetermined grip conditions, within at least one of a range in which the candidates can be computed in a predetermined period, a range in which they can be computed in a predetermined processing amount, and a range in which a predetermined number of trajectory candidates can be computed. The evaluating unit conducts evaluation of the trajectory candidates generated, based on an evaluation item, and the computing unit generates the trajectory, using one trajectory candidate selected based on the evaluation.

Abstract: A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.

Abstract: A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.

Abstract: An internal combustion engine is mounted on the saddle-riding vehicle. The engine includes: a cylinder head; a cylinder head cover; a fuel injection valve whose distal end is directed to a combustion chamber; a cam shaft; a fuel pump which feeds fuel due to an action of a cam which integrally rotates with the cam shaft; a fuel pump mounting member which is fixed to the cylinder head and on which the fuel pump is mounted; and a downstream side fuel pipe which feeds fuel from the fuel pump to the fuel injection valve and has flexibility. The above arrangement improves maintenance property by making a routing space of the fuel pipe compact by shortening the length of the fuel pipe while enhancing protection of the sides of the vehicle including the fuel pump.

Abstract: A position estimation system and the like that prevent accuracy of self-position information from decreasing is provided. A position estimation system 100 according to the present disclosure includes a first sensor configured to output first data including data of an angular velocity of a wheel driven when a moving apparatus 10 moves. The position estimation system further includes a second sensor configured to output second data including position data of the moving apparatus 10 detected not according to the angular velocity of the wheel or data concerning a change in a posture of the moving apparatus 10. The position estimation system further includes a self-position estimation unit configured to set a priority of the first data according to a value of the angular velocity of the wheel and integrate the first data with the second data based on the set priority to estimate a position of the moving apparatus 10.

Abstract: Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.

Abstract: An object of the present invention is to provide a robot that can improve safety even when the robot is operated in an unobserved region and a method of controlling the robot. The robot according to the present invention operates while observing a surrounding environment. The robot includes environmental information obtaining means for obtaining environmental information on the environment around the robot and control means for reducing a driving force of the robot when the robot is operated in the unobserved region, in which region the environmental information thereof has not been obtained by the environmental information obtaining means.