Abstract: An economizer (24) is provided in a multistage compression refrigeration system including a refrigerant circuit in which a multistage compressor, a condenser, a multistage expansion mechanism, and an evaporator are sequentially connected. The economizer (24) includes: a tank (24a) having an introducing portion (24d) for introducing a refrigerant of the refrigerant circuit, a liquid outlet (24a) for guiding a liquid refrigerant into the evaporator, and a gas outlet (24c) for guiding a gas refrigerant into a medium pressure portion of the multistage compressor; and a float expansion valve (25), which forms part of the multistage expansion mechanism and is attached to the liquid outlet (24b), and whose throttle amount is adjusted according to a level of the liquid refrigerant in the tank (24a). Multiple ones of the liquid outlet (24b) and multiple ones of the float expansion valve (25) are provided.

Abstract: There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction.

Abstract: A motor controller including a position control section that generates a speed command based on a position command and a motor position, a speed control section that generates a torque command based on the speed command and a motor speed, and a motor driving section that generates a motor current based on the torque command. The motor controller has a speed feed forward command generating section that generates a speed feed forward command by differentiating the position command. A model control section generates a model torque command based on the speed feed forward command and a model speed. An inertia identifying section identifies inertia based on the ratio of an integrated value of a motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of the model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.

Abstract: The present invention relates to a compound represented by formula (1): (wherein, R1, R2, R3 and R4 respectively and independently represent a hydrogen atom or a C1-6 alkyl group, and n represents an integer of 1 or 2) and a production process thereof, as well as an antioxidant that contains the compound as its active ingredient, and a kidney disease treatment agent, cerebrovascular disorder treatment agent, retina oxidative disorder inhibitor and lipoxygenase inhibitor that contain the antioxidant.

Abstract: The present invention is directed to compounds represented by the formula (1): B-D-Z (1), wherein B represent the following formula (B-1), A represents an optionally substituted imidazole or pyrazole group; E represents the following formula (1a): X represents an oxygen atom, the formula: SOu, or the formula: N—R9; Y represents a carbon atom or a nitrogen atom; D represents an oxygen atom, a sulfur atom or the formula (1a); Z represents (a chroman-2-yl group, a chroman-4-yl group, a 2,3-dihydrobenzofuran-2-yl group, a 2,3-dihydrobenzofuran-3-yl group, etc.) which is substituted with NHR10 or OR11)] or pharmaceutically acceptable salts thereof, and to antioxidants, therapeutic agents for kidney diseases or cerebrovascular disorder, and retinal oxidative damage inhibitors, which include the compounds as the active ingredient.

Abstract: A compound represented by formula (1) or a salt thereof, and an antioxidant drug containing the compound or the salt as an active ingredient, are provided. The compound or salt exhibits effective antioxidant activity in treating ischemic organ disorders and diseases caused by oxidative cell damage, and in inhibiting retinal lesions caused by oxidation due to the effects of light.

Abstract: A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

Abstract: The present invention is directed to compounds represented by the formula (1): B-D-Z (1), wherein B represent the following formula (B-1), (B-2) or (B-3); A represents an optionally substituted imidazole or pyrazole group; E represents the following formula (1a); X represents an oxygen atom, the formula: SOu, or the formula: N—R9; Y represents a carbon atom or a nitrogen atom; D represents an oxygen atom, a sulfur atom or the formula (1a); Z represents (a chroman-2-yl group, a chroman-4-yl group, a 2,3-dihydrobenzofuran-2-yl group, a 2,3-dihydrobenzofuran-3-yl group, etc.) which is substituted with NHR10 or OR11)] or pharmaceutically acceptable salts thereof, and to antioxidants, therapeutic agents for kidney diseases or cerebrovascular disorder, and retinal oxidative damage inhibitors, which include the compounds as the active ingredient.

Abstract: The present invention provides a motor controller and a motor control method in which displacement does not arise even when an external force is present during the identification of inertia.

Abstract: There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction.

Abstract: The present invention is directed to compounds represented by the formula (1): B-D-Z??(1) [wherein B represent the following formula (B-1), (B-2) or (B-3); A represents an optionally substituted imidazole or pyrazole group; E represents the following formula (1a): X represents an oxygen atom, the formula: SOu, or the formula: N—R9; Y represents a carbon atom or a nitrogen atom; D represents an oxygen atom, a sulfur atom or the formula (1a); Z represents (a chroman-2-yl group, a chroman-4-yl group, a 2,3-dihydrobenzofuran-2-yl group, a 2,3-dihydrobenzofuran-3-yl group, etc.) which is substituted with NHR10 or OR11)] or pharmaceutically acceptable salts thereof, and to antioxidants, therapeutic agents for kidney diseases or cerebrovascular disorder, and retinal oxidative damage inhibitors, which include the compounds as the active ingredient.

Abstract: The present invention relates to a compound represented by formula (1): (wherein, R1, R2, R3 and R4 respectively and independently represent a hydrogen atom or a C1-6 alkyl group, and n represents an integer of 1 or 2) and a production process thereof, as well as an antioxidant that contains the compound as its active ingredient, and a kidney disease treatment agent, cerebrovascular disorder treatment agent, retina oxidative disorder inhibitor and lipoxygenase inhibitor that contain the antioxidant.

Abstract: The present invention relates to a compound represented by formula (1): (wherein R represents a hydrogen atom or a C1-6 alkyl group which may be substituted, A represents an imidazolyl group or a pyrazolyl group, B represents a group represented by the following formula: (wherein R5 and R6 each independently represents a hydrogen atom, a cyano group, a hydroxyl group, a halogen atom, a C1-6 alkyl group, a C1-6 alkoxy group, or the like, k represents 0 or an integer of 1 to 15, and R5 and R6 may be identical or different from each other, when k is 2 or more), and Z represents a substituted chroman-2-yl group, a substituted 2,3-dihydrobenzofuran-2-yl, a substituted thiochroman-2-yl group, a substituted 2,3-dihydrobenzothiophene-2-yl group, or a substituted 1,3-benzoxathiol-2-yl group).

Abstract: A control constant adjusting apparatus in a control apparatus of a robot or a machine tool, etc. is disclosed. This control constant adjusting apparatus includes a speed control part (12), an estimation part (13), an identification part (14) and an adjustment part (15). The identification part (14) makes identification of inertia J obtained from a ratio between a value |SFTr| in which an absolute value |FTr| of a value FTr obtained by passing a torque command Tref of the speed control part (12) through a predetermined high-pass filter is integrated with respect to time at a predetermined interval [a, b] and a value |SFTr?| in which an absolute value |Ftr?| of a value FTr? obtained by passing a model torque command Tref? of the estimation part (13) through a predetermined high-pass filter is integrated with respect to time at the same interval only when a speed Vfb? of a model in the estimation part (13) matches with a motor speed Vfb in the speed control part (12) at a value other than zero.

Abstract: A control constant adjusting apparatus in a control apparatus of a robot or a machine tool, etc. is disclosed. This control constant adjusting apparatus includes a speed control part (12), an estimation part (13), an identification part (14) and an adjustment part (15) . The identification part (14) makes identification of inertia J obtained from a ratio between a value |SFTr| in which an absolute value |FTr| of a value FTr obtained by passing a torque command Tref of the speed control part (12) through a predetermined high-pass filter is integrated with respect to time at a predetermined interval [a, b] and a value |SFTr?| in which an absolute value |Ftr?| of a value FTr? obtained by passing a model torque command Tref? of the estimation part (13) through a predetermined high-pass filter is integrated with respect to time at the same interval only when a speed Vfb? of a model in the estimation part (13) matches with a motor speed Vfb in the speed control part (12) at a value other than zero.

Abstract: A electric motor control device is provided for controlling an electric motor which actuates a movable member of a machine through a transmitting mechanism. When a torque command is given as motion command signal (9) to servo device (3), servo device (3) sends input torque signal (12) corresponding to motion command signal (9) to electric motor (5), which is energized. Movable member (7) is thus moved, producing vibrations. Servo device (3) outputs input torque signal (11) equivalent to input torque signal (12), and input torque signal (11) and rotational speed signal (10) are stored in memory device (2). Analyzing device (1) analyzes the frequencies of input torque signal (11) and rotational speed signal (10) according to an FFT, and outputs analytical result (14).

Abstract: Thieno[2,3-d]pyrimidine compounds of general formula (1) useful as drugs having a cGMP-specific phosphodiesterase inhibiting effect and the preparation thereof wherein Q is formula: (CH2)n—N(r1)—C(r2) (r3), CH═CH—CH═CH, or (CH2)m which is bonded to a and b; R1 is hydrogen or C1-C6 alkyl; R2 is C3-C8 cycloalkyl optionally substituted with G1, phenyl optionally substituted with G2, or a saturated or unsaturated heterocyclic group having 1 to 4 heteroatoms selected from N, O and S and being optionally substituted with G3; and R3 is a saturated or unsaturated heretocyclic group having 1 to 4 heteroatoms selected from N, O and S and being optionally substituted with G3 or (CH2)kC(═O)R4 or CH═CHC(O)R4.

Abstract: Phenylazole compounds represented by general formula (1) or pharmaceutically acceptable salts thereof and drugs for hyperlipemia which contain these compounds as the active ingredient, wherein A represents imidazolyl, pyrazolyl, etc.; B represents (1a) or (1b) (wherein R2 and R3 represent each hydrogen, C1-6 alkyl, etc; and k is 0 or an integer of 1 to 15); Y represents O, S, a bond, etc.; and Z represents an optionally substituted and saturated or unsaturated heterocycle containing 1 to 4 N, O or S atoms. Among all, compounds wherein Z is substituted chroman-2-yl, 2,3-dihydrobenzofuran-2-yl, etc. have an effect of inhibiting the formation of lipid peroxides too.

Abstract: A controller is provided for a multi-axis robot having at least first and second axis assemblies, the first and second axis assemblies each having an arm, a servomotor driven by a control input and a coupling in the form of a decelerator, which includes a spring element, coupling the servomotor and the arm, the second axis assembly being disposed at an end of the arm of the first axis assembly. The controller includes the first and second axis assemblies each including torsional angle detector for detecting a torsional angle of a respective one of the couplings. A dynamic coupling calculator calculates coupling parameters of the couplings. The first and second axis assemblies each include a semi-closed loop.

Abstract: The present invention is directed to (R)-(-)-4,5-dihydro-5-methyl-6-?4-?(2-propyl-3-oxo-1-cyclohexenyl)amino!ph enyl!-3(2H)-pyridazinone, the crystalline form thereof and a method for manufacturing the said compound and the said crystalline form.The compound of the present invention has excellent inhibitory effect on platelet aggregation while giving less side effect, and therefore, it is useful to utilize the compound as an antithrombotic drug. In addition, the compound of the present invention has bronchodialatic effect as well, and it is therefore useful to utilize the compound for chemotherapy of chronic obstructive lung disease, such as asthma and bronchitis.Moreover, the compound of the present invention is useful for chemotherapy of the diseases relating to the concentration of cAMP in cells, such as hypertension, ulcer, diabetes mellitus and cancer.Again, crystalline form of the said compound is the most suitable form in order to supply stable and homogeneous bulk thereof.