Abstract: An additive having an improved dispersibility or adhesion property to thermoplastic resins and useful for imparting an excellent flame resistance and other properties thereto without deteriorating properties that the thermoplastic resins originally possess, such as mechanical, electrical and thermal properties and molding processability, which comprises a nitrogen-containing heterocyclic compound or its salt surface-treated with 0.1 to 50% by weight of a compound having at least two functional groups such as epoxy resin, acid anhydride or the like; and a flame retardant polyester resin composition comprising (A) a thermoplastic polyester, (B) a nitrogen-containing heterocyclic compound or its salt, (C) a compound having at least two functional groups and optionally (D) a phosphorus based flame retarder, which may be prepared by adding the component (B) previously surface-treated with the component (C) or separately adding the components (B) and (C) to the polyester (A).

Abstract: There are disclosed a resin composition capable of exhibiting a high melt viscoelasticity comprising 100 parts by weight of an aromatic copolyester resin which contains a branching component unit having at least three ester-forming groups in the ratio of 0.01 to 5 moles per 100 moles in total of aromatic dicarboxylic acid units and which has a limiting viscosity of 0.4 to 1.0 dl/g, and 0.05 to 5 parts by weight of a compound having at least two acid anhydride groups in its molecule, and an aromatic polyester resin foamed body produced therefrom and a process for producing the foamed body.

Abstract: In the manufacture of ultrafine particles of semiconductor compound, pulse laser with high output is irradiated on an evaporation source having the same or similar composition as the above semiconductor compound to evaporate the source in a moment and the ultrafine particles of the semiconductor compound are produced utilizing the nuclear growth in inert gas. A process wherein a material for ultrafine particles is heated/evaporated by laser in inert gas and the resulting vapor is rapidly cooled by a collision with the inert gas whereby the resulting ultrafine particles of said material is sticked on a base plate and another process wherein a material for matrix is heated/evaporated by laser whereby the matrix is formed on the base plate are carried out alternately so that the ultrafine particles are homogeneously dispersed in the matrix to prepare the material wherein the ultrafine particles are dispersed.

Abstract: A robot controller for having a workpiece held by a robot and having the workpiece machined by moving it relative to a stationary tool. The robot controller can control the velocity of relative motion, against the tool, of a machining point on the workpiece. At each teaching point, a transformation matrix is calculated to convert a position matrix of the flange center as teaching data (i.e., 4.times.4 matrix giving position and attitude in homogeneous coordinates) into a position matrix of the tool tip. Between two adjacent teaching points, interpolation points are set according to a specified velocity. Transformation matrices applicable to the two teaching points are put to interpolation calculations to provide a transformation matrix at each interpolation point. An inverse matrix of the transformation matrix at each interpolation point is applied to the position matrix for the tool tip. This allows the position matrix for the flange center keyed to each interpolation point to be calculated.

Abstract: In a feed control system, a feed controller controls a servomotor in such a manner as to reduce the difference between an objective position and a present position of a movable body. An interference detection circuit coupled to the feed controller detects the occurrence of an interference between the movable body and an obstruction when feed movement of the movable body is discontinued nevertheless the difference between the objection and present positions does not reach zero. A digital computer is coupled to an objective position counter provided in the feed controller to selectively set therein objective positions to which the movable body is to be positioned successively. The digital computer, when receiving a signal from the interference detection circuit, sets the objective position counter with data for moving the movable body a predetermined amount in a direction opposite to that wherein the movable body was moved before the occurrence of an interference.