Abstract: A basic image of objects is extracted from a two-dimensional image of objects. Geometrical elements of the objects are extracted from the extracted basic image. The objects to be recognized are identified by searching a combination of the geometrical elements which match a geometrical model and then utilizing candidate position/orientation of the objects to be recognized, said candidate position/orientation being determined from a relationship in relative position between the combination of geometrical elements and the geometrical model. Mesh cells fixed to the geometrical model are mapped on the basic image based on the candidate position/orientation. In addition, verification is made as to whether an image of the geometrical model mapped by the candidate position/orientation is accurately matched with an image of one of the objects to be recognized, through a neural network to which values got from the basic image included in the individual mesh cells are to be applied as input values.

Abstract: An apparatus for detecting the collision of objects including a moving object includes a face information memory for storing face information describing the surfaces of each object; hierarchical sphere model generator for modeling the surfaces of each object by hierarchically covering the surfaces with spheres having various radii on the basis of the face information; sphere model memory for storing the positions of the modeled spheres generated; sphere position updater for updating the position of each modeled sphere having various radii with respect to the moving object and outputting the updated position; and sphere collision computer for executing procedures in which mutually colliding spheres are detected on the basis of the positions of the modeled spheres concerning two of the objects generated at an arbitrary time and stored in the sphere model memory and colliding spheres among spheres belonging to the mutually colliding spheres and having a smaller radius are further detected with respect to only th

Abstract: This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

Abstract: In an image processor system, a processor includes a first two-dimensional look-up table for receiving first and second digital data as an address, a second two-dimensional look-up table for receiving an output digital data of the first two-dimensional look-up table and a third digital signal as an address, and a latch circuit for temporarily storing the output digital data of the second look-up table. The processor is flexible and the functions thereof can be varied by changing the contents of the look-up tables.

Abstract: A cleaning device for an electrophotographic copying machine includes a blade mounted on a housing so as to scrape off a residual toner from the surface of a photosensitive member. A seal member is mounted on the housing so as to guide the scraped-off toner into the housing to collect the toner in the housing. A rotary screw discharges the collected toner from the housing. A vibrating member is mounted on the housing and disposed adjacent to and inwardly of the seal member. The vibrating member includes a plate-like portion having an edge portion contacted with the rotary screws, and is adapted to be vibrated during rotation of the rotary screw. The plate-like portion is formed with a number of slits spaced apart from each other by a distance smaller than a pitch of the rotary screw, so as to enable to effectively vibrate the plate-like portion of the vibrating member.

Abstract: A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.

Abstract: A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit.

Abstract: A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.

Abstract: A muffler for internal combustion engine houses a catalyst for exhaust gas purification and is provided with an exhaust gas inlet pipe through which exhaust gas from the engine is fed to the upstream side of the catalyst. The exhaust gas inlet pipe includes an inlet pipe section provided therein with a venturi section through which atmospheric air as secondary air is inducted into the exhaust gas inlet pipe. The inlet pipe section is extended in the direction of exhaust gas flow to form an extension pipe section which has a length of at least two times the inner diameter of the extension pipe section, thereby suppressing cutoff frequency at lower levels.

Abstract: An improved process for preparing an impact-resistant chemically blended propylene polymer or copolymer, which comprises the following three steps:(1) a first step of polymerizing propylene containing 0 to 1 mole% of another olefin in the presence of a catalyst composed of (a) a carrier-supported titanium catalyst component containing at least magnesium, halogen and titanium on the surface of the carrier and (b) an organo aluminum compound to form specific crystalline polypropylene;(2) a second step of copolymerizing propylene and ethylene in the presence of the reaction product of the first step and the same catalyst while maintaining the content of propylene in the gaseous phase of the polymerization zone at 65 to 90 mole% thereby to form specific low-crystalline propylene/ethylene copolymer; and(3) a third step of polymerizing ethlene, or both ethylene and propylene in the presence of the reaction product of the second step and the same catalyst while maintaining the content of propylene in the gaseous pha