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: 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 relates to a novel class of compounds which are cysteine protease inhibitors, including but not limited to, inhibitors of Cathepsins K and L. These compounds are useful for treating diseases in which inhibition of bone resorption is indicated, such as osteoporosis.

Abstract: This invention relates to the compounds represented by a general formula [I]: 1

Abstract: This invention provides compounds which are represented by a general formula [I] 1

Abstract: This invention relates to a novel class of compounds which are cysteine protease inhibitors, including but not limited to, inhibitors of Cathepsins K and L. These compounds are useful for treating diseases in which inhibition of bone resorption is indicated, such as osteoporosis.

Abstract: An object of the present invention is to obtain a robot provide a robot 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. According to the present invention, 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: Compounds represented by the general formula (I): 1

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: The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened.

Abstract: In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism.

Abstract: The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened.

Abstract: A transportable three-dimensional calibration wind tunnel system is comprised of a small wind tunnel portion for creating a three-dimensional calibration air having a suitable wind velocity, and a two-axis rotational deformation device portion for causing said wind tunnel portion to effect a conical motion with a nozzle blow port being an apex to suitably change a flow angle. The two-axis rotational deformation device is comprised of a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and a .alpha.-angle rotational deformation device having a .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: An air active control aircraft having an air three-dimensional true airspeed detection system composed of an air data sensor probe in the form of a truncated pyramid-shape Pitot probe and an air flight velocity operation processor for calculating an air flight velocity vector from three-dimensional air pressure information detected by the air data sensor probe, airframe motion detection sensors for detecting an airframe motion, and an on-board control computer for generating a flight control law. The on-board control computer inputs an air flight velocity vector signal obtained from the air flight velocity vector device into a control-surface control system in parallel with airframe motion detection sensor signals, and presumes a flight motion induced by a change in air to generate the flight control law for quickly carrying out air flight stability control.

Abstract: A transportable three-dimensional calibration wind tunnel system consisting of a small wind tunnel portion for creating a three-dimensional airflow having a suitable wind velocity, and a two-axis rotational deformation device portion for causing the wind tunnel portion to effect a conical motion with a nozzle blow port being in close proximity to an apex to suitably change a flow angle. The two-axis rotational deformation device includes a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and an .alpha.-angle rotational deformation device having an .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: A transportable three-dimensional calibration wind tunnel system consists of a small wind tunnel portion for creating a three-dimensional airflow having a suitable wind velocity, and a two-axis rotational deformation device portion for causing the wind tunnel portion to effect a conical motion with a nozzle blow port being in close proximity to an apex to suitably change a flow angle. The two-axis rotational deformation device includes a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and an .alpha.-angle rotational deformation device having an .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: A compound of the formula: ##STR1## wherein R.sup.1 is a hydrogen atom or a methyl group, R.sup.2 is a hydrogen atom or a negative charge, R.sup.3 is a hydrogen atom, a halogen atom, a hydroxyl group, a lower alkoxy group, a lower alkanoyloxy group, an amino group, an N-lower alkylamino group, an N,N-di-lower alkylamino group, a lower alkanoylamino group, an aroylamino group, a (lower alkylsulfonyl)amino group, a sulfamoylamino group, a cyano group, a nitro group, a group of --COOR.sup.4 (wherein R.sup.4 is a hydrogen atom or a lower alkyl group) or a group of --CON(R.sup.5)R.sup.6 (wherein each of R.sup.5 and R.sup.6 which may be the same or different, is a hydrogen atom or a lower alkyl group, or R.sup.5 and R.sup.

Abstract: A mounting object comprises a combination of a mounting object body wherein engaging portions of fastener elements of a metallic heat-resistant two-dimensional fastener are projected outside from a mounting surface, and base portions are embedded and integrally molded, and a mating fastener element base object wherein mating fastener elements in detachably engagement with said fastener elements are projected and integrally molded. Said mounting object body is obtained as a heat-resistant material integral with a metallic two-dimensional fastener by covering and fixing part of the fastener elements of the metallic two-dimensional fastener with a carbon powder having a high melting temperature and covering bases thereof with a metallic powder, a ceramics powder or a mixed powder of them to mold and sinter it.

Abstract: A floating board is installed on a surface table through an extremely low friction plane sliding and supporting mechanism, such as using a gas bearing, of two-dimensional 3 freedom to thereby constitute a plane sliding mechanism portion, and a vertical sliding shaft tube supported to be enable translation in a vertical direction and connected to a balance belt for applying a balance weight is provided on the floating board through an extremely low friction vertical shaft sliding and supporting mechanism, such as a bas bearing, to thereby constitute a vertical shaft sliding mechanism portion.

Abstract: A compound of the formula: ##STR1## wherein R.sup.1 is a hydrogen atom or a methyl group, R.sup.2 is a hydrogen atom or a negative charge, X is a group of --N(R.sup.3)R.sup.4 (wherein R.sup.3 is a lower alkyl group, and R.sup.4 is a hydrogen atom or a lower alkyl group) or a group of --N.sup.+ (R.sup.5)(R.sup.6)R.sup.7 (wherein each of R.sup.5, R.sup.6 and R.sup.7 which may be the same or different, is a lower alkyl group), and n is an integer of from 2 to 4; or a pharmaceutically acceptable salt or ester thereof.