Abstract: A movement control method for a multi-vehicle system for moving multiple vehicles to target positions individually set for the vehicles includes: acquiring first positions of the vehicles; determining control input for moving the vehicles from the first positions to second positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to be a shorter distance when a distance between the second position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.

Abstract: A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.

Abstract: A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles includes the steps of: acquiring positions of the vehicles; determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.

Abstract: A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.

Abstract: A second core calculates an intervening variable that is defined by an inner function, when a time derivative of a state variable is expressed by a function having the state variable, the inner function, and an observable input variable as independent variables. A first core calculates a function by using respective values of the state variable, the intervening variable, and the input variable, and obtains a value of the state variable by time-integration of a value of the function. In the calculation of the function, the value of the state variable calculated in previous time, a value of the intervening variable calculated by the second core in the previous time, and a value of the input variable inputted in this time are used.

Abstract: A second core calculates an intervening variable that is defined by an inner function, when a time derivative of a state variable is expressed by a function having the state variable, the inner function, and an observable input variable as independent variables. A first core calculates a function by using respective values of the state variable, the intervening variable, and the input variable, and obtains a value of the state variable by time-integration of a value of the function. In the calculation of the function, the value of the state variable calculated in previous time, a value of the intervening variable calculated by the second core in the previous time, and a value of the input variable inputted in this time are used.

Abstract: Provided is an active energy ray-curable resin composition for seal materials, suitable as a bead-shaped seal material high in shape dimensional precision and excellent in productivity. An active energy ray-curable resin composition for seal materials including at least a thixotropy imparting agent (B) in an amount of 0.1 to 25 parts by weight dispersed in 100 parts by weight of an active energy ray-curable resin (A), wherein the active energy ray-curable resin composition has an apparent viscosity in an uncured state (according to JIS Z8803, cone and plate rotation viscometer, 40° C.) of 50 to 5000 Pa·s in a shearing speed range from 0.1 to 10/sec and has a thixotropic coefficient, determined from the apparent viscosity in the shearing speed range, of 1.1 to 10, the thixotropy imparting agent (B) is made of silica fine particles, and the silica fine particles in the active energy ray-curable resin (A) has a particle size distribution having a plurality of peaks.

Abstract: A surface treatment agent for hydraulic transfer to perform hydraulic transfer decoration with high adhesion onto an olefin-type substrate with poor adhesion. They are provided by a surface treatment agent for hydraulic transfer to a polyolefin-type substrate to be used in a hydraulic transfer method for forming a decorative layer, by coating an activator to a dried print pattern on a water-soluble film to recover adhesion of said print pattern, and then by hydraulic transferring said print pattern onto the surface of a surface treatment layer of the polyolefin-type substrate treated with the surface treatment agent, characterized in that said surface treatment agent for hydraulic transfer is consisted of a resin composition including a modified polyolefin (a), a polyfunctional isocyanate (b) and a solvent (c), and a blending ratio of (b)/(a) is 0.005 to 0.5, in weight ratio.

Abstract: A surface treatment agent for hydraulic transfer to perform hydraulic transfer decoration with high adhesion onto an olefin-type substrate with poor adhesion. They are provided by a surface treatment agent for hydraulic transfer to a polyolefin-type substrate to be used in a hydraulic transfer method for forming a decorative layer, by coating an activator to a dried print pattern on a water-soluble film to recover adhesion of said print pattern, and then by hydraulic transferring said print pattern onto the surface of a surface treatment layer of the polyolefin-type substrate treated with the surface treatment agent, characterized in that said surface treatment agent for hydraulic transfer is consisted of a resin composition including a modified polyolefin (a), a polyfunctional isocyanate (b) and a solvent (c), and a blending ratio of (b)/(a) is 0.005 to 0.5, in weight ratio.