Abstract: An electrophotographic photoreceptor includes a conductive substrate, an undercoat layer disposed on the conductive substrate, having a volume resistivity of 5.0×107 [?m] or more and 5.0×109 [?m] or less, and having a thickness of 20 ?m or more and 40 ?m or less, a charge generation layer disposed on the undercoat layer, and a charge transport layer disposed on the charge generation layer, having a volume resistivity of 1.0×1013 [?m] or more and 5.0×1014 [?m] or less, and having a thickness of 15 ?m or more and 40 ?m or less.

Abstract: An image forming apparatus includes an electrophotographic photoreceptor that includes a conductive substrate and a photosensitive layer disposed on the conductive substrate, the electrophotographic photoreceptor having an outermost surface layer that contains a binder resin, a charge-transporting material, and a fluorine-containing resin particle, the fluorine-containing resin particle containing 0 or more and 30 or less carboxy groups per 106 carbon atoms, a charging device that charges the electrophotographic photoreceptor, an electrostatic latent image forming device that forms an electrostatic latent image on the electrophotographic photoreceptor that is charged, a developing device that houses a developer containing a toner and that develops, with the developer, the electrostatic latent image formed on the electrophotographic photoreceptor into a toner image, a transfer device that transfers the toner image onto a transfer-receiving medium, and an optical discharging device that, after the toner image i

Abstract: A system capable of detecting an artful risk of intrusion into a communication environment, and protecting the communication environment from the risk. The system includes a security incident detection section configured to monitor information or communication in a communication environment and detect occurrence of a security incident in the communication environment, a normal workflow execution section configured to simulatively execute a normal workflow in a test communication environment in response to detection of the security incident by the security incident detection section, and a communication monitoring section configured to monitor information or communication in the test communication environment when executing the normal workflow in the test communication environment.

Abstract: A robot system preventing a worker from mistaken operation due to mistaken assumptions resulting from differences in operation of the GUIs. The robot system includes a machine attribute value storage part storing a combination of values corresponding to attributes of types, appearances, and display positions for addition of display elements of the robot on the GUI screen of the display device and a combination of values corresponding to attributes of various definition types of both operations and responses of the display elements and includes a machine screen generation part using a combination of values corresponding to attributes stored in the machine attribute value storage part as the basis to generate and add display elements of the robot to the GUI screen of the machine. The machine screen generation part is configured to generate the GUI screen of the display device including the display elements of the robot.

Abstract: An interference check system capable of appropriately checking interference between a machine tool and a robot in real time even in the case where real-time properties of data communication are not secured in a system including a machine tool and a robot. The interference check system includes a machine tool controller configured to control a machine tool, a robot controller configured to control a robot, and an interference check execution unit configured to include shape model data or the like of a machine tool mechanical unit and a robot mechanical unit. The interference check execution unit checks presence/absence of interference between the machine tool mechanical unit and the robot mechanical unit based on the shape model data of the machine tool and the robot and time-series data generated by integrating the positions of the control axes of the machine tool and the robot, respectively.

Abstract: A system capable of detecting an artful risk of intrusion into a communication environment, and protecting the communication environment from the risk. The system includes a security incident detection section configured to monitor information or communication in a communication environment and detect occurrence of a security incident in the communication environment, a normal workflow execution section configured to simulatively execute a normal workflow in a test communication environment in response to detection of the security incident by the security incident detection section, and a communication monitoring section configured to monitor information or communication in the test communication environment when executing the normal workflow in the test communication environment.

Abstract: A cooperation system of a robot and a machine tool, capable of obtaining a coordinate transformation means with high accuracy by a simple configuration, by which a robot coordinate system is transformed to a machine coordinate system. A provisional coordinate system is defined by coordinate values of three calibration markers in a base coordinate system obtained by translating the machine coordinate system, and a coordinate transformation matrix from the provisional coordinate system to the base coordinate system is calculated. The positions of the markers in the robot coordinate system are obtained by capturing the markers by a camera. Based on the three coordinate values in the robot coordinate system, a coordinate transformation matrix from the robot coordinate system to the provisional coordinate system is calculated, and a coordinate transformation matrix from the robot coordinate system to the base coordinate system is calculated based on the above two matrixes.

Abstract: A robot system preventing a worker from mistaken operation due mistaken assumptions resulting from differences in operation of the GUIs. The robot system includes a machine attribute value storage part storing a combination of values corresponding to attributes of types, appearances, and display positions for addition of display elements of the robot on the GUI screen of the display device and a combination of values corresponding to attributes of various definition types of both operations and responses of the display elements and includes a machine screen generation part using a combination of values corresponding to attributes stored in the machine attribute value storage part as the basis to generate and add display elements of the robot to the GUI screen of the machine. The machine screen generation part is configured to generate the GUI screen of the display device including the display elements of the robot.

Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.

Abstract: An interference check system capable of appropriately checking interference between a machine tool and a robot in real time even in the case where real-time properties of data communication are not secured in a system including a machine tool and a robot. The interference check system includes a machine tool controller configured to control a machine tool, a robot controller configured to control a robot, and an interference check execution unit configured to include shape model data or the like of a machine tool mechanical unit and a robot mechanical unit. The interference check execution unit checks presence/absence of interference between the machine tool mechanical unit and the robot mechanical unit based on the shape model data of the machine tool and the robot and time-series data generated by integrating the positions of the control axes of the machine tool and the robot, respectively.

Abstract: A cooperation system of a robot and a machine tool, capable of obtaining a coordinate transformation means with high accuracy by a simple configuration, by which a robot coordinate system is transformed to a machine coordinate system. A provisional coordinate system is defined by coordinate values of three calibration markers in a base coordinate system obtained by translating the machine coordinate system, and a coordinate transformation matrix from the provisional coordinate system to the base coordinate system is calculated. The positions of the markers in the robot coordinate system are obtained by capturing the markers by a camera. Based on the three coordinate values in the robot coordinate system, a coordinate transformation matrix from the robot coordinate system to the provisional coordinate system is calculated, and a coordinate transformation matrix from the robot coordinate system to the base coordinate system is calculated based on the above two matrixes.

Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.

Abstract: A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.

Abstract: A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.

Abstract: A stereoscopic display is provided. The stereoscopic display includes: an image displaying section that generates a right eye image and a left eye image and emits the same; and a phase differential plate disposed on an exit side of the image displaying section that orthogonalizes to each other or rotates reversely the polarizing directions of the right eye image and the left eye image which are incident from the image displaying section and emits the same. The phase differential plate is disposed on the image displaying section side and has an image light-antireflective film that prevents the right eye image light and the left eye image light from reflecting from the image displaying section.

Abstract: A stereoscopic display is provided. The stereoscopic display includes: an image displaying section that generates a right eye image and a left eye image and emits the same; and a phase differential plate disposed on an exit side of the image displaying section that orthogonalizes to each other or rotates reversely the polarizing directions of the right eye image and the left eye image which are incident from the image displaying section and emits the same. The phase differential plate is disposed on the image displaying section side and has an image light-antireflective film that prevents the right eye image light and the left eye image light from reflecting from the image displaying section.

Abstract: A robot simulation apparatus, which lays out a shape model of a robot equipped with a hand, and shape models of a case and of work pieces contained therein on a display screen in a prescribed positional relationship, and simulates a picking operation of the robot, which picks the work piece with the hand, the apparatus having; a case dimension setting portion for setting the shape model of the case to a prescribed shape and dimensions; an interference checking portion for checking for interference between the hand and the case when the robot is operated to take out a work piece from the side of a inner wall of the case, and if there is interference, identifying the interference; a hand changing portion for changing the shape model of the hand so that there is no longer any interference between the hand and the case when it is determined by the interference checking portion that there is interference between the hand and the case; and a product data acquiring portion for acquiring data on the actual product di