Abstract: A driving speed Vd that is a speed of a driving force input point at which a driving force from a driving element is transmitted to an elastic member is acquired. An approximate rate Ve of change of an amount of elastic deformation Pe is computed based upon a plurality of values of the amount of elastic deformation Pe acquired as a quantized value at different points in time, by smoothing out an abrupt change in the values of the amount of elastic deformation Pe caused to appear by quantization. A deformation speed V is computed based upon the driving speed Vd and the approximate Ve by: V=A·(?Vd)+B·Ve where A is a coefficient increasing with increase in frequency of fluctuations in a position of the driving force input point, and B is a coefficient increasing with decrease in the frequency of fluctuations in the position of the driving force input point.

Abstract: A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The desired value is determined by a state amount desired value determiner such that the observed value of the vertical position of an overall center-of-gravity point of the mobile robot is converged to a predetermined desired value according to a feedback control law. A control input determiner carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator is controlled on the basis of the determined desired driving force.

Abstract: A driving speed Vd that is a speed of a driving force input point at which a driving force from a driving element is transmitted to an elastic member is acquired. An approximate rate Ve of change of an amount of elastic deformation Pe is computed based upon a plurality of values of the amount of elastic deformation Pe acquired as a quantized value at different points in time, by smoothing out an abrupt change in the values of the amount of elastic deformation Pe caused to appear by quantization. A deformation speed V is computed based upon the driving speed Vd and the approximate Ve by: V=A·(?Vd)+B·Ve where A is a coefficient increasing with increase in frequency of fluctuations in a position of the driving force input point, and B is a coefficient increasing with decrease in the frequency of fluctuations in the position of the driving force input point.

Abstract: A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The desired value is determined by a state amount desired value determiner such that the observed value of the vertical position of an overall center-of-gravity point of the mobile robot is converged to a predetermined desired value according to a feedback control law. A control input determiner carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator is controlled on the basis of the determined desired driving force.

Abstract: An apparatus for measuring a glucose concentration is noninvasive, accurate, and compact. The apparatus includes a detection unit (10) and a principal component analysis (PCA) unit (20). The detection unit includes a light source (11) to emit mid-infrared light, an ATR prism (12) to receive the mid-infrared light with a measuring object placed on the ATR prism, and a spectrum detector (13) to detect an absorption spectrum from the mid-infrared light from the ATR prism. The PCA unit includes a loading memory (24) to store a glucose corresponding loading and a personal data memory (28) to store personal data in the form of a calibration curve. According to the detected absorption spectrum, stored loading, and stored personal data, the PCA unit computes a glucose concentration of the measuring object.

Abstract: This invention relates to a method for diagnosing insulin-dependent diabetes mellitus, which comprises administering to a mammal such a photosensitizer or an X-ray absorbing substance that has a property capable of accumulating specifically in the macrophages having infiltrated the inflammatory sites of Langerhans islets in the pancreas and also has a property capable of being activated upon absorption of a light ray or an X-ray of a specific wavelength, then irradiating the pancreas with the light ray or X-ray of the specific wavelength, and detecting or judging whether the fluorescence of the photo-excited photosensitizer or the X-ray absorption image occurs in the inflammatory sites of Langerhans islets or not.

Abstract: An apparatus for measuring a glucose concentration is noninvasive, accurate, and compact. The apparatus includes a detection unit (10) and a principal component analysis (PCA) unit (20). The detection unit includes a light source (11) to emit mid-infrared light, an ATR prism (12) to receive the mid-infrared light with a measuring object placed on the ATR prism, and a spectrum detector (13) to detect an absorption spectrum from the mid-infrared light from the ATR prism. The PCA unit includes a loading memory (24) to store a glucose corresponding loading and a personal data memory (28) to store personal data in the form of a calibration curve. According to the detected absorption spectrum, stored loading, and stored personal data, the PCA unit computes a glucose concentration of the measuring object.

Abstract: A method of forming a resist pattern including the steps of: forming a resist film by coating resist on the surface of a member to be processed, the resist containing a composition A capable of increasing the volume by chemical reaction; exposing and developing the coated resist film to form a pattern having an opening; and chemically reacting fluid containing a composition B with the composition A by contacting the fluid with the composition A to change the size of the opening of the resist film, the composition B being capable of increasing the volume of the composition A by chemical reaction with the composition A. It is possible to form a fine resist pattern by a simple method.

Abstract: A coupling for vertical connection in sewage plumbing used in tall and high-rise buildings, is disclosed. The coupling is equipped in its inside walls with a pair of vortical blades for descending sewage streams from the upper floors into the coupling to impinge on their top blade surface to flow sideways into a spiral flow down the coupling. The more intense vortex streams developed, the faster the streams fall along the plumbing. For a vortex generates a vertical column of upwardly moving ventilative air in the center of the sewage streams, smoothing the descent of the drainage. Moreover, the top and bottom blades are mounted at different levels of height inside the coupling, and circumferentially displaced to each other so as to form a V-shape as seen in the horizonal projection view.

Abstract: A pipe joint for connecting water supply pipe together and which utilizes compression seals between the pipe and the joint, and is comprised of a holding housing having a band body that surround a seal ring and a holding ring. A locking bolt is threadably tightened onto the holding housing.The seal ring is embedded and sealed within outside surface of both ends of the separated pipes after the locking bolt is threadably tightened.The holding ring is positioned to engage and become fully engaged within the groove at each of outside of the separated pipes, and hold the separation pipes against being easily separated after the locking bolt is threadably tight-end onto the holding housing.The ring spring having a turned up portion eliminate swell out of the holding ring from the holding housing, and circumference rotation by itself.

Abstract: A pipe joint for connecting water supply pipe together and which utilizes compression seals between the pipe and the joint, and is comprised of a holding housing having a band body that surround a seal ring and a holding ring. A locking bolt is threadably tightened onto the holding housing. The seal ring is embedded and sealed within outside surface of both ends of the separated pipes after the locking bolt is threadably tightened. The holding ring is positioned to engage and become fully engaged within the groove at each of outside of the separated pipes, and hold the separation pipes against being easily separated after the locking bolt is threadably tight-end onto the holding housing.

Abstract: A pattern exposing method forms a predetermined resist pattern on a substrate by exposing a first resist layer which is formed on the substrate using a first reticle which includes a first pattern for exposing a first corresponding pattern on the first resist layer by use of a phase shift of light transmitted through the first reticle, developing the exposed first resist layer, exposing a second resist layer which is formed on the entire surface of the substrate, including a top of the first resist layer, using a second reticle which has a second pattern for exposing a second corresponding pattern on the second resist layer by use of light transmitted through the second reticle, where the second corresponding pattern overlaps at least a part of the first corresponding pattern, and developing the second resist layer so that a part of the first corresponding pattern is removed by the second corresponding pattern and the predetermined resist pattern is formed.

Abstract: A pattern exposing method forms a predetermined resist pattern on a substrate by exposing a first resist layer which is formed on the substrate using a first reticle which includes a first pattern for exposing a first corresponding pattern on the first resist layer by use of a phase shift of light transmitted through the first reticle, developing the exposed first resist layer, exposing a second resist layer which is formed on the entire surface of the substrate, including a top of the first resist layer, using a second reticle which has a second pattern for exposing a second corresponding pattern on the second resist layer by use of light transmitted through the second reticle, where the second corresponding pattern overlaps at least a part of the first corresponding pattern, and developing the second resist layer so that a part of the first corresponding pattern is removed by the second corresponding pattern and the predetermined resist pattern is formed.

Abstract: An ultrasonic washing machine as an air bubble supplying device and an ultrasonic generator. The ultrasonic generator works with textile products such as fabrics, yarns, ropes, etc. placed in a tub filled with water. Air bubbles produced by the cavitation effect of the ultrasound cling to the surface of the textile products and help remove stains, alien matter, etc. adhering to them. Part of the air, fed from the outside by an air bubble supplying device, constantly dissolves in the water, whereby the air consumed by the cavitation is supplemented; the rest of the air, not dissolved in the water, diffuses the ultrasound when ascending in the water as bubbles, which serves to greatly improve the washing effect.

Abstract: An ultrasonic washing machine for tableware is provided with an ultrasonic generator and an air bubble supplying device in a tub. Air bubbles are sent out from holes of an air bubble supplying device to reflect ultrasound when ascending in water in the tub. Other air bubbles dissolve in the water, but arise on the tableware again by the cavitation effect of the ultrasound, which makes dirt or alien matters release from the tableware. The air in the water consumed by the cavitation of the ultrasound is fed into the water from outside from time to time. Therefore, cleaning of the tableware by air bubbles is carried out constantly and no detergent is needed in washing the tableware.

Abstract: A method of and apparatus for deaerating condensate in a power generating steam turbine plant of the type having deaeration system making use of the deaeration function of the condenser of the plant. The non-deaerated condensate in the condenser of the steam turbine plant to be started is substituted by deaerated condensate supplied from an equipment containing deaerated condensate such as the condenser of another plant under operation and deaerated condensate storage tank. The non-deaerated condensate can be deaerated in a short period to the level required for the feedwater supplied to the boiler, of the steam turbine plant.

Abstract: A method for producing a semiconductor device provided with a fuse including the steps of forming a fuse layer on an insulating layer formed on a semiconductor substrate, forming an interrupting layer covering the fuse layer and the insulating layer, forming an insulating protective layer covering the interrupting layer, selectively etching the protective layer, so as to form a window, with a suitable etchant which does not etch the interrupting layer, and etching the exposed interrupting layer to complete the window by which a portion of the the fuse layer and a portion of the insulating layer are exposed. The insulating layer is not removed so that the reliability of the semiconductor device will not deteriorate.