Abstract: A control method for controlling an apparatus including a movable portion by a visual servo includes obtaining a goal image corresponding to a goal positional relationship between the movable portion and a target object, extracting goal feature points whose information has a degree of freedom of ? from the goal image by image processing, obtaining a current image corresponding to a current positional relationship between the movable portion and the target object, extracting candidate feature points from the current image by image processing, extracting current feature points associated with the goal feature points from the candidate feature points by performing matching processing between the candidate feature points and the goal feature points, and generating, by using matching information based on matching between the current feature points and the goal feature points in the matching processing, a control signal for moving the movable portion at a degree of freedom of n.

Abstract: A polytrimethylene terephthalate composition including a polyester having a trimethylene terephthalate unit as a main repeating unit, which satisfies all the following requirements: (a) the intrinsic viscosity is 0.50 to 1.60 dL/g; (b) titanium dioxide whose weight distribution of particles having a particle size of more than 1.0 ?m is 5.0% by weight or less is contained in an amount of 0.05 to 3.0% by weight; (c) the crystallization exothermic peak top temperature is 165° C. or more; and (d) the half-width of the crystallization exothermic peak is 20° C. or less. In addition, the invention further encompasses a method for producing a polytrimethylene terephthalate composition using titanium dioxide that has been subjected to a wet-grinding treatment, and also a fiber obtained from the composition.

Abstract: A polytrimethylene terephthalate composition including a polyester having a trimethylene terephthalate unit as a main repeating unit, which satisfies all the following requirements: (a) the intrinsic viscosity is 0.50 to 1.60 dL/g; (b) titanium dioxide whose weight distribution of particles having a particle size of more than 1.0 ?m is 5.0% by weight or less is contained in an amount of 0.05 to 3.0% by weight; (c) the crystallization exothermic peak top temperature is 165° C. or more; and (d) the half-width of the crystallization exothermic peak is 20° C. or less. In addition, the invention further encompasses a method for producing a polytrimethylene terephthalate composition using titanium dioxide that has been subjected to a wet-grinding treatment, and also a fiber obtained from the composition.

Abstract: A polyester having a good color tone (a high L value and a low b value) and a low acetaldehyde content is obtained by using a catalyst containing a reaction product of (A) a titanium compound (1) represented by the general formula (I) and/or a titanium compound (2) obtained by reacting the titanium compound (1) of the general formula (I) with an aromatic polyhydric carboxylic acid represented by the general formula (II) or an anhydride thereof, with (B) a phosphorus compound (3) represented by the general formula (III). [wherein R1, R2, R3, R4 and R5=a C2-C10 alkyl group, k=1 to 3, m=2 to 4, and R6=a substituted or non-substituted C6-C20 aryl group or a C6-C20 alkyl group].

Abstract: High-quality differential-shrinkage polyester combined filament yarn having good color tone and being free from fluffing can be made from a polyester polymer produced by using a catalyst comprising (I) a mixture consisting of a Ti compound component composed of one or more members selected from among titanium alkoxides of the general formula (I) and products of reaction of these alkoxides with carboxylic acids of the general formula (II) or anhydrides thereof and a P compound component consisting of a compound of the general formula (III) and/or (2) a product obtained by reacting a Ti compound component composed of one or more members selected from among titanium alkoxides of the general formula (I) and products of reaction of these alkoxides with carboxylic acids of the general formula (II) or anhydrides thereof with a P compound component consisting of a compound of the general formula (IV).

Abstract: A tinted polyester resin composition having good color and useful for many uses (fibers, films and other formed articles) contains an aromatic polyester polymer and a tinting agent; the tinting agent is contained in a content of 0.1 to 10 ppm by mass in the composition, and has a maximum absorption wavelength in the range of from 540 to 600 nm in the absorption spectrum in the wavelength band of from 380 to 780 nm, determined in a solution of the tinting agent in a concentration of 20 mg/liter in chloroform in an optical path having a length of 1 cm; and ratios of optical absorbances A400, A500, A600 and A700 of visible light spectra at wavelengths of 400 nm, 500 nm, 600 nm and 700 nm respectively to an optical absorbance Amax in the visible light spectrum at the maximum absorption wavelength, determined in the above-mentioned chloroform solution at a optical path having a length of 1 cm, satisfy the requirements of 0.00?A400/Amax?0.20, 0.10?A500/Amax?0.70, 0.55?A600/Amax?1.00 and 0.00?A700/Amax?0.05.

Abstract: A polyester based on poly(trimethylene terephthalate) consisting essentially of trimethylene terephthalate repeating units, comprising at least one kind of compound selected from the group consisting of alkali metal compounds, alkaline earth metal compounds and manganese compounds in an amount of 10 to 150 ppm expressed in terms of the metal element in a molar ratio of the total amount of elements of the contained alkali metal elements, alkaline earth metal elements and manganese element to the amount of the contained phosphorus element within the range of the following formula (I): 0?P/M?1??(I) wherein, P is the molar amount of the phosphorus element in the polyester; M is the total amount of the alkali metal elements, alkaline earth metal elements and manganese element.

Abstract: A poly(ethylene aromatic dicarboxylate ester) resin usable for the production of fibers, films and bottle-formed articles, is produced by polycondensing a diester of an aromatic dicarboxylic acid with ethylene glycol by using a catalyst including a non-reacted mixture or reaction product of a titanium compound component including at least one member selected from titanium alkoxides and reaction products of the titanium alkoxides with aromatic polyvalent carboxylic acids or anhydrides thereof, with a specific phosphorus compound, in which catalyst the contents of titanium and phosphorus elements are controlled.

Abstract: Polyester fibers having a deformed section are produced from a polyester polymer which is obtained by polycondensing an aromatic dicarboxylate ester in the presence of a catalyst containing a mixture of a Ti component (A) comprising at least one a titanium alkoxide or a reaction product thereof with a specific carboxylic acid or its anhydride with a P compound component (B) represented by the following general formula (III) and/or a reaction product of a Ti compound component (C) with a P compound component (D) represented by the following general formula (IV). The obtained fibers have a favorable color tone and excellent qualities without showing fluffing.

Abstract: High-quality differential-shrinkage polyester combined filament yarn having good color tone and being free from fluffing can be made from a polyester polymer produced by using a catalyst comprising (I) a mixture consisting of a Ti compound component composed of one or more members selected from among titanium alkoxides of the general formula (I) and products of reaction of these alkoxides with carboxylic acids of the general formula (II) or anhydrides thereof and a P compound component consisting of a compound of the general formula (III) and/or (2) a product obtained by reacting a Ti compound component composed of one or more members selected from among titanium alkoxides of the general formula (I) and products of reaction of these alkoxides with carboxylic acids of the general formula (II) or anhydrides thereof with a P compound component consisting of a compound of the general formula (IV).

Abstract: Polytrimethylene terephthalate which has a low content of a cyclic dimer and hardly produces the cyclic dimer when it is melt molded and a fiber made from the polytrimethylene terephthalate. Polytrimethylene terephthalate (A) is essentially composed of a trimethylene terephthalate unit, has an intrinsic viscosity of 0.5 to 1.6 dl/g and contains 0.01 to 0.5 wt % of a compound represented by the following formula (I) or (II): (R1, R2 and R3 are the same or different hydrocarbon groups having 1 to 10 carbon atoms, n is an integer of 1 to 5, M is an alkali metal atom or alkali earth metal atom, and m is 1 when M is an alkali metal atom and 2 when M is an alkali earth metal atom), (R4 and R5 are the same or different and each a hydrogen atom or hydrocarbon group having 1 to 10 carbon atoms).

Abstract: A tinted polyester resin composition having good color and useful for many uses (fibers, films and other formed articles) contains an aromatic polyester polymer and a tinting agent; the tinting agent is contained in a content of 0.1 to 10 ppm by mass in the composition, and has a maximum absorption wavelength in the range of from 540 to 600 nm in the absorption spectrum in the wavelength band of from 380 to 780 nm, determined in a solution of the tinting agent in a concentration of 20 mg/liter in chloroform in an optical path having a length of 1 cm; and ratios of optical absorbances A400, A500, A600 and A700 of visible light spectra at wavelengths of 400 nm, 500 nm, 600 nm and 700 nm respectively to an optical absorbance Amax in the visible light spectrum at the maximum absorption wavelength, determined in the above-mentioned chloroform solution at a optical path having a length of 1 cm, satisfy the requirements of 0.00?A400/Amax?0.20, 0.10?A500/Amax?0.70, 0.55?A600/Amax?1.00 and 0.00?A700/Amax?0.05.

Abstract: A poly(ethylene aromatic dicarboxylate ester) resin usable for the production of fibers, films and bottle-formed articles, is produced by polycondensing a diester of an aromatic dicarboxylic acid with ethylene glycol by using a catalyst including a non-reacted mixture or reaction product of a titanium compound component including at least one member selected from titanium alkoxides and reaction products of the titanium alkoxides with aromatic polyvalent carboxylic acids or anhydrides thereof, with a specific phosphorus compound, in which catalyst the contents of titanium and phosphorus elements are controlled.

Abstract: A polyester having a good color tone (a high L value and a low b value) and a low acetaldehyde content is obtained by using a catalyst containing a reaction product of (A) a titanium compound (1) represented by the general formula (I) and/or a titanium compound (2) obtained by reacting the titanium compound (1) of the general formula (I) with an aromatic polyhydric carboxylic acid represented by the general formula (II) or an anhydride thereof, with (B) a phosphorus compound (3) represented by the general formula (III).

Abstract: A polyester based on poly(trimethylene terephthalate) consisting essentially of trimethylene terephthalate repeating units, comprising at least one kind of compound selected from the group consisting of alkali metal compounds, alkaline earth metal compounds and manganese compounds in an amount of 10 to 150 ppm expressed in terms of the metal element in a molar ratio of the total amount of elements of the contained alkali metal elements, alkaline earth metal elements and manganese element to the amount of the contained phosphorus element within the range of the following formula (I):

Abstract: Polyester fibers comprising a copolyester which simultaneously satisfies the following respective requirements (a) to (c), (a) a terephthalic acid component in an amount of 0 to 100 mol % and a 2,6-naphthalenedicarboxylic acid component in an amount of 100 to 0 mol % respectively based on the whole dicarbxylic acid component, wherein the total amount, of the terephthalic acid component and the 2,6-naphthalenedicarboxylic acid component, accounts for 90 mol % or more based on the whole dicarboxylic acid component, (b) a trimethylene glycol component accounts for 0 to 100 mol % and a 1,4-cyclohexanedimethanol component accounts for 100 to 0 mol % respectively based on the whole glycol component, wherein the total amount, of the trimethylene glycol component and the 1,4-cyclohexanedimethanol component, accounts for 90 mol % or more based on the whole glycol component and (c) the sum total value of mol % of the 2,6-naphthalenedicarboxylic acid component and mol % of the 1,4-cyclohexanedimethanol component is 2

Abstract: Polyester fibers comprising a copolyester which simultaneously satisfies the following respective requirements (a) to (c),

Abstract: An aromatic polyester film, which comprises an aromatic polyester comprising 2,6-naphthalenedicarboxylic acid as the main dicarboxylic acid component and 1,3-propanediol as the main diol component and having a density of at least 1.310 g/cm3. A laminated film comprising another polyester layer can be formed from this aromatic polyester film. An aromatic polyester containing a small amount of a sulfonic acid phosphonium salt used as one of the aromatic polyesters forming this laminated film is excellent in electrostatic casting properties and resistance to the contamination of an electrostatic wire, and an aromatic polyester containing an inorganic anti-fungus agent is used for antifungal application.

Abstract: A water vapor-permeable waterproof fabric free from an environmental pollution problem upon being discarded is formed by coating a substrate fiber fabric with a composite coating layer including a lower layer (A) directly formed on the substrate fabric and an upper layer (B) formed on the lower layer (B), wherein the lower and upper layers are formed from one of polyetherester elastomers different from each other and each containing polyalkylene glycol (PAG) residues, and satisfy the following requirements: (a) in the polyetherester elastomer (PEEA), the polyalkylene glycol residues contain 90% by weight or more of polytetramethylene glycol residues; (b) in the polyetherester elastomer (PEEB), the polyalkylene glycol residues contain 50% by weight or more of polyethylene glycol residues; (c) the thickness of the composite coating layer is 5 to 50 &mgr;m; and (d) the lower layer (A) is in an amount of 5 to 40% by weight based on the total weight of the composite coating layer.

Abstract: Crimped polyester fibers which comprise a polytrimethylene terephthalate-based polyester and have three-dimensional crimps with a number of crimps of 9 to 30 peaks/25 mm and a crimp ratio of 20 to 50% and further a crimp modulus of elasticity of 80% or above. A fiber structure wherein the weight ratio of staple fibers of the above crimped polyester fibers to heat-bonding conjugated staple fibers is 30:70 to 95:5 and heat-bonded spots are formed at least partially in contact points of both the staple fibers and/or contact points of the mutual heat-bonding conjugated staple fibers.