Abstract: The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

Abstract: A control parameter is adjusted without the need to operate a driver of a control target. A control device (10) includes a model identification unit (12), a parameter determination unit (132), a data evaluation unit (131) and an operation data calculation unit (133). The model identification unit (12) identifies a physical model of an operation of the control target. The operation data calculation unit (133) calculates operation data by using the physical model and the control parameter. The data evaluation unit (131) calculates an evaluation value by using normative data of the operation of the control target and the operation data. The parameter determination unit (132) determines the control parameter by using the evaluation value.

Abstract: A control parameter which causes a servo motor to perform an operation with higher accuracy depending on a purpose and a situation is determined. A control device (10) includes a data evaluation unit (131), a parameter determination unit (132), and an operation data acquisition unit (133). The operation data acquisition unit (133) acquires operation data including a speed or a torque of a servo motor (900). The data evaluation unit (131) calculates an evaluation value by using normative data corresponding to a target of the operation data and the operation data. The parameter determination unit (132) determines a control parameter applied to a servo driver (90) which controls operations of the servo motor (900) by using the evaluation value.

Abstract: A control apparatus and the like may include a time allocation setting unit that sets a time allocation for steps in the total driving time, and an operation value calculation unit that calculates minimum operation values for the times set by the time allocation setting unit, and the time allocation setting unit sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.

Abstract: The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

Abstract: A method of transferring a liquid between multiple containers in cell culture. A first container of multiple culture containers each having a port for transferring content, a three-way stopcock and a medium supply container having one port are connected by a tube, and one pump is arranged therebetween; when the number of containers in the multiple culture containers is two, the three-way stopcock and a second culture container are connected by a tube; when the number is three or more, a three-way stopcock is newly provided between the immediately connected culture container and the three-way stopcock, and connection of the newly provided three-way stopcock and a subsequent culture container by a tube is repeated, whereby all culture containers are connected to the three-way stopcock; and the culture medium is transferred from the medium supply container to each container in the multiple culture containers via the three-way stopcock by the pump.

Abstract: A bottom surface of a container (1) formed of a flexible material is partially raised to be partitioned it into plural compartments (10), and cells are cultured in each compartment (10). In due time, the compartments (10) are removed to expand a culture area in the container. As a result, the cell density at the time of culture can be maintained at an appropriate level, and an operation of transferring cells from one culture container to another culture container at the time of proliferating cells in a large amount can be eliminated, whereby damage on cells and risk of contamination can be reduced.

Abstract: In a mist recovering apparatus for recovering a mist contained in a gas, provided with a filter having pores of pore size increasing from a gas inlet side toward a gas outlet side, the gas containing the mist is passed from the gas inlet side of the filter, through the filter toward the gas outlet side of the filter. The mist is trapped by the filter and grows into droplets as the gas containing the mist flows through the filter, and the droplets drip down along the gas outlet surface of the filter and are collected under the filter.