Abstract: A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.

Abstract: A composite structure formation method based on an aerosol deposition method by which an aerosol with brittle material fine particles dispersed in a gas is sprayed toward a substrate to form a structure made of the brittle material fine particles, the composite structure formation method includes: storing a plurality of controlled particles in a storage mechanism, the controlled particle being an assembly packed with a plurality of particles including the brittle material fine particles; supplying the controlled particles from the storage mechanism to an aerosolation mechanism; disaggregating the supplied controlled particles in the aerosolation mechanism to form an aerosol; and spraying the aerosol toward the substrate to form a composite structure having the structure and the substrate.

Abstract: Disclosed is an aryl-substituted nitrogen-containing heterocyclic compound represented by the formula (I) below or a pharmaceutically acceptable salt thereof. This compound serves as nociceptin receptor antagonist and is useful as a pharmaceutical agent for treating diseases associated with a nociceptin receptor. (I) [in the formula, A1, A2 and A3 independently represent a carbon atom or a nitrogen atom, and one or two of A1, A2 and A3 represent a carbon atom; R1 represents a lower alkyl group or the like; R2 represents a phenyl group which may be substituted with a halogen atom or the like; R3 represents a hydrogen atom, a lower alkyl group or the like; and R4 represents a lower alkyl group or the like.

Abstract: The present invention provides an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped and easy to manufacture by low-temperature firing. The electrostatic chuck includes a dielectric material in which alumina is 99.4 wt % or more, and titanium oxide is more than 0.2 wt % and equal to or less than 0.6 wt %, wherein the electrostatic chuck's volume resistivity is 108-1011 ?cm in room temperature, and wherein the titanium oxide segregates in boundaries of particles of the alumina.

Abstract: The invention relates to 4-oxoimidazolidine-2-spiropiperidine derivatives represented by a general formula [I] [in which A1, A2, A3, A4 and A5 stand for optionally halogen-substituted methine, or nitrogen atom; R1 and R2 stand for lower alkyl or the like; R3 stands for hydrogen or lower alkyl; R4 and R5 stand for hydrogen, or lower alkyl which is optionally substituted with hydroxy, or the like] or salts thereof. These compounds act as nociceptin receptor agonist, and are useful as analgesic, reliever from tolerance to narcotic analgesic, reliever from dependence on narcotic analgesic, analgesic enhancer, antiobestic, drug for ameliorating brain function, remedy for schizophrenia, drug for treating regressive neurodegenerative diseases, antianxiety agent or antidepressant and remedy for diabetes insipidus and polyuria; and the like.

Abstract: Compounds represented by the general formula (I): wherein Ar1 and Ar2 are each aryl or heteroaryl; R1 is lower cycloalkyl, —Ar3, or a group of the general formula (a), (b) or (c): and R2 and R3are each hydrogen, lower cycloalkyl, lower alkenyl, or optionally substituted lower alkyl (with the proviso that when R2 and R3 are simultaneously hydrogen, Ar1, Ar2 and R1 do not simultaneously represent unsubstituted phenyl).

Abstract: The object of the present invention is to provide an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped. According to the present invention, there is provided an electrostatic chuck comprising a dielectric material in which alumina is 99.4 wt % or more, titanium oxide is more than 0.2 wt % and equal to or less than 0.6 wt %, whose average particle diameter is 2 ?m or less, and whose volume resistivity is 108-1011 ?cm in room temperature, wherein the electrostatic chuck is used in a low temperature of 100° C or less.

Abstract: The object of the present invention is to provide an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped. According to the present invention, there is provided an electrostatic chuck comprising a dielectric material in which alumina is 99.4 wt % or more, titanium oxdde is more than 0.2 wt % and equal to or less than 0.6 wt %, whose average particle diameter is 2 pm or less, and whose volume resistivity is 108-1011 ?cm in room temperature, wherein the electrostatic chuck is used in a low lo temperature of 100 ° C. or less.

Abstract: The object of the present invention is to provide an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped. According to the present invention, there is provided an electrostatic chuck comprising a dielectric material in which alumina is 99.4 wt % or more, titanium oxide is more than 0.2 wt % and equal to or less than 0.6 wt %, whose average particle diameter is 2 ?m or less, and whose volume resistivity is 108-1011 ?cm in room temperature, wherein the electrostatic chuck is used in a low temperature of 100° C. or less.

Abstract: The object of the present invention is to provide an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped. According to the present invention, there is provided an electrostatic chuck comprising a dielectric material in which alumina is 99.4 wt % or more, titanium oxide is more than 0.2 wt % and equal to or less than 0.6 wt %, whose average particle diameter is 2 ?m or less, and whose volume resistivity is 108-1011 ?cm in room temperature, wherein the electrostatic chuck is used in a low temperature of 100° C. or less.

Abstract: The invention relates to 4-oxoimidazolidine-2-spiropiperidine derivatives represented by a general formula [I] [in which A1, A2, A3, A4 and A5 stand for optionally halogen-substituted methine, or nitrogen atom; R1 and R2 stand for lower alkyl or the like; R3 stands for hydrogen or lower alkyl; R4 and R5 stand for hydrogen, or lower alkyl which is optionally substituted with hydroxy, or the like]or salts thereof These compounds act as nociceptin receptor agonist, and are useful as analgesic, reliever from tolerance to narcotic analgesic, reliever from dependence on narcotic analgesic, analgesic enhancer, antiobestic, drug for ameliorating brain function, remedy for schizophrenia, drug for treating regressive neurodegenerative diseases, antianxiety agent or antidepressant and remedy for diabetes insipidus and polyuria; and the like.

Abstract: The invention relates to 4-oxoimidazolidine-2-spiropiperidine derivatives represented by a general formula [I] [in which A1, A2, A3, A4 and A5 stand for optionally halogen-substituted methine, or nitrogen atom; R1 and R2 stand for lower alkyl or the like; R3 stands for hydrogen or lower alkyl; R4 and R5 stand for hydrogen, or lower alkyl which is optionally substituted with hydroxy, or the like] or salts thereof. These compounds act as nociceptin receptor agonist, and are useful as analgesic, reliever from tolerance to narcotic analgesic, reliever from dependence on narcotic analgesic, analgesic enhancer, antiobestic, drug for ameliorating brain function, remedy for schizophrenia, drug for treating regressive neurodegenerative diseases, antianxiety agent or antidepressant and remedy for diabetes insipidus and polyuria; and the like.

Abstract: This invention provides compounds which are represented by a general formula [I] [in which X stands for hydrogen or halogen; B stands for halogen, cyano or optionally fluorine-substituted lower alkyl; D stands for a 3–10 membered aliphatic nitrogen-containing heterocyclic group; R3, R4 and R5 may be same or different, and each stands for hydrogen, lower alkyl optionally having substituent group(s) and the like; and a is 0 or 1]. These compounds exhibit high affinity to nociceptin receptors and whereby inhibit actions of nociceptin, and are useful as an analgesic, antiobestic, agent for ameliorating brain function, treating agents for Alzheimer's disease and dementia, and therapeutic agents for schizophrenia, neurodegenerative diseases, depression, diabetes insipidus, polyuria, hypotension and the like.

Abstract: Compounds represented by the general formula (I): wherein Ar1 and Ar2 are each aryl or heteroaryl; R1 is lower cycloalkyl, —Ar3, or a group of the general formula (a), (b) or (c): and R2 and R3are each hydrogen, lower cycloalkyl, lower alkenyl, or optionally substituted lower alkyl (with the proviso that when R2 and R3 are simultaneously hydrogen, Ar1, Ar2 and R1 do not simultaneously represent unsubstituted phenyl).

Abstract: Compounds represented by the general formula (I): wherein Ar1 and Ar2 are each aryl or heteroaryl; R1 is lower cycloalkyl, —Ar3, or a group of the general formula (a), (b) or (c): and R2 and R3 are each hydrogen, lower cycloalkyl, lower alkenyl, or optionally substituted lower alkyl (with the proviso that when R2 and R3 are simultaneously hydrogen, Ar1, Ar2 and R1 do not simultaneously represent unsubstituted phenyl).

Abstract: A novel combined engine for a single-stage spacecraft is provided that combines a air-breathing engine utilizing oxygen in the atmosphere as oxidizer and rocket engines for obtaining thrust outside the atmosphere and that does not require a portion whose shape is variable in accordance with the flight speed. Rocket engines 15 are provided on struts 12 that form air introduction channels 10 in the air intake section 4. The rocket jets 18 from the rocket engines 15 control the flow of the airflows 16 introduced into the combustion chamber 20 in accordance with the flight speed. When the spacecraft 1 is stationary or in subsonic flight, the rocket jets 18 promote air intake into the combustion chamber 20 by lowering of static pressure due to expansion (ejector effect). In the subsonic flight condition, it performs the role of air compression, mixing with incoming air, fuel injection and ignition and during supersonic/ultra-supersonic flight it performs the role of a variable diffuser.

Abstract: An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm.

Abstract: This invention relates to the compounds represented by a general formula [I]: [in which A1 and A2 represent optionally fluorine-substituted methine or the like; B represents halogen, cyano, lower alkyl or the like; D represents optionally substituted heterocyclic group or the like; and G represents C3-C20 aliphatic group such as alicyclic group]. These compounds inhibit nociceptin activities due to their high affinity to nociceptin receptor, and are useful as analgesic, antiobestic, corebral function improver, drugs for treatment of alzheimer's disease and dementia, remedies for schizophrenia and neurodegenerative diseases, antidepressant, remedies for diabetes insipidus, polyuria, hypotension and so on.

Abstract: A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

Abstract: A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.