Abstract: The position of blood vessels can be more appropriately specified by means of appropriately selecting, on the basis of the conditions and components utilized, and angle between a light emitting unit optical axis of a near-infrared light emitting unit and a normal light of an irradiated surface, and angle between an optical axis of a light receiving side lens and the normal line of the irradiated surface, and an angle between a light receiving surface of a photo diode array and the light receiving unit optical axis. Thus, the subcutaneous blood vessel depth in the direction of the normal line from the irradiated surface can be specified based on changes in illumination intensity in a photodiode array. Consequently, the position of subcutaneous blood vessels can be easily specified.

Abstract: A control device of a robot for controlling the angle of a joint of the robot that is driven by a motor. The control device is equipped with: a joint angle command-calculating unit for calculating a joint angle command value; an axial force torque-calculating unit for calculating the axial force torque generated in the joint axis; an elastic deformation-compensating unit for calculating a motor command angle by adding a joint deflection, which is calculated from the axial force torque and a joint spring constant, to the joint angle command value; a stopping position-detecting unit for detecting the angle of the motor when the robot contacts an external structure; and a command angle-switching unit for outputting the motor angle detected by the stopping position-detecting unit instead of the joint angle command value when the stopping position-detecting unit outputs the angle of the motor.

Abstract: A batch annealing furnace includes a coil support base on which an end face of a coil is mounted and that supports the coil with an axis of the coil being upright, an inner cover that covers an entire body of the coil mounted on the coil support base, and a cooling pipe that extends downward from the upper part of the inner cover to a cavity of the inner peripheral part of the coil mounted on the coil support base and cools the coil from the inner surface side by passing a coolant through the inside of the cooling pipe.

Abstract: This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

Abstract: A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.

Abstract: In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (?mc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (?md). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

Abstract: Easily serviced and hygienically maintained liquid supply system. A liquid storage vessel switching device switches between vessels to supply liquid uninterruptedly. Provided in a first connection tube is a liquid cutoff device, including a loop section, for switching the system between allowing/cutting-off supplying of liquid to a dispenser through the first connection tube. Utilizing the liquid cutoff device eliminates, along the first connection tube, intervening conventional valves having structural components that come in direct contact with the supplied liquid, and on which sponges or other cleaning elements might get caught. The inner wall of the first connection tube may thus be cleaned readily with a sponge or the like. Beverages such as beer thus can easily be kept hygienically and served.

Abstract: In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (?c), and outputs a processed joint-angle target value (?d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).

Abstract: The teach pendant (3) is provided with an arranged button section (31) in which multiple operation buttons (B1-B12) for setting operation instruction information for a welding robot (2), on the tip of which a welding tool (6) is installed, are disposed. The teach pendant gives movement instructions to the welding robot (2) as a result of operation instruction information being set using the operation buttons (B1-B12). The arranged button section (31) arranges the multiple operation buttons (B1-B12) in directions that correspond to the welding tool (6) movement directions, which are based on movement instructions to the welding robot (2) resulting from the operation instruction information.

Abstract: This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

Abstract: A substrate processing apparatus includes a plurality of arms used for transferring a substrate, a plurality of processing sections for processing the substrate, a recipe storage section storing at least one recipe for designating at least one of the plurality of arms as a usable arm and at least one of the plurality of processing sections as a usable processing section and for specifying processing conditions in the usable processing section, and a control unit for, according to the at least one recipe, controlling the plurality of arms and the plurality of processing sections so that a substrate is transferred using the usable arm and is processed in the usable processing section under the processing conditions.

Abstract: A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.

Abstract: A paper money processing device includes a device conveyance unit that receives a paper money inserted into an input port and feeds the received paper money to a storage cassette in a device housing, and a device conveyance unit that has one end connected to the device conveyance unit and the other end exposed to the outside of the device housing from a supply/collection port upon a paper money supply and a paper money collection.

Abstract: Object: To provide a chocolate or chocolate-like food capable of inhibiting occurrence of low-temperature bloom. Means for solving problem: A chocolate or chocolate-like food of the present invention comprises an oil and fat, wherein the oil and fat comprises 50 to 85% by weight of triglyceride having an oleic acid at position 2 and saturated fatty acids having 16 or more carbon atoms at positions 1 and 3 (XOX type triglyceride); and 5 to 18% by weight of triglyceride in which two oleic acids are bound and one saturated fatty acid having 16 or more carbon atoms is bound (XO2 type triglyceride). According to such a chocolate or chocolate-like food, the low temperature bloom can be inhibited.

Abstract: A device for stopping a flow of fluid in a fixed length of tube with an actuator simple in construction is provided. The stopping device is free of direct touch with the fluid inside the tube, expected not to obstruct the flow in the tube as permitted as possible at normal condition, expected to perform both detection and control with a single device, and further invulnerable to kinds of fluids. The device for stopping a flow of fluid includes a tube holder to keep a tube in looped configuration, a movable part pressing the looped configuration of the tube. Pressing of the looped configuration of the tube make a snapped bent to stop the flow of fluid passed through the tube. Putting the movable part back into place results in the tube's returning from the configuration having the bent, allowing the fluid flowing again through the tube.

Abstract: A motor including: a stator core extending in a direction of an axis line constituting a rotation center; a stator coil formed by winding a winding wire on the stator core; and a resin mold unit of a substantially cylindrical shape centered on the axis line, the resin mold unit covering an end portion in the direction of the axis line of the stator coil, the motor being configured to supply a coolant to a surface of the resin mold unit. The motor is arranged so that the axis line is directed in a substantially vertical direction, and the resin mold unit includes a spiral groove portion entered on the axis line at least either an inner circumferential surface or an outer circumferential surface of the resin mold unit.

Abstract: In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (?c), and outputs a processed joint-angle target value (?d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).

Abstract: In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (?mc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (?md). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

Abstract: A detecting unit (14) forms a plurality of detection spots arranged two-dimensionally on a floor surface near a door panel (12). Each detection spot is capable of detecting a human or an object by infrared light independently from other detection spots. Region distinguishing means (30) distinguishes a region formed by plural ones of the said detection spots that have detected the human or object. Person's movement judging means (44) judges the direction in which the distinguished region moves. A signal which causes a door panel (12) to be opened is supplied to a door controller (34) only when the direction of movement of the distinguished region is the direction toward the door panel.

Abstract: A batch annealing furnace includes a coil support base on which an end face of a coil is mounted and that supports the coil with an axis of the coil being upright, an inner cover that covers an entire body of the coil mounted on the coil support base, and a cooling pipe that extends downward from the upper part of the inner cover to a cavity of the inner peripheral part of the coil mounted on the coil support base and cools the coil from the inner surface side by passing a coolant through the inside of the cooling pipe.