Abstract: The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5).

Abstract: An electrode position control method according to the present invention includes a voltage detecting step of detecting voltages on a leading electrode and a trailing electrode that are brought into contact with a welding workpiece, a sensing step of detecting positional information of the welding workpiece from electrical changes in the voltages, a correction amount calculating step of calculating a correction amount for correcting for positional displacement of each of the leading electrode and the trailing electrode with respect to a weld line from the positional information, and a position correcting step of correcting the respective positions of the electrodes by adding or subtracting the correction amount.

Abstract: A robot controller that controls a tandem arc welding system according to the present invention includes a leading-electrode correcting section that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode changing amount calculated by a leading-electrode processing section; a leading-electrode correcting section that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode processing section; a rotational-displacement correction controlling processing section that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section that corrects a teaching position and a position of a rotational center of a welding torch during tracking correction.

Abstract: A method for producing a norbornene derivative includes forming a Mannich base represented by any of general formulae (5) to (7) by reacting a carbonyl compound represented by any of general formulae (1) to (3) and an amine compound represented by general formula (4) with each other in an acidic solvent, to thereby obtain a reaction liquid comprising the Mannich base in the acidic solvent, wherein the acidic solvent comprises a formaldehyde derivative and 0.01 mol/L or more of an acid represented by formula HX; reacting the Mannich base and a diene compound represented by general formula (8) with each other by adding an organic solvent, a base in an amount of 1.0 to 20.0 equivalents to the acid, and the diene compound to the reaction liquid, and then heating the reaction liquid, to thereby form the norbornene derivative represented by any of general formulae (9) to (11).

Abstract: A retardation film, formed by stretching a film having a norbornene-based ring-opening copolymer containing a structural unit (A) represented by the general formula (1) and a structural unit (B) represented by the general formula (2), wherein the content of structural unity (A) is not less than 5 mol % but not more than 95 mol % relative to the total amount of structural units (A) and (B).

Abstract: The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5).

Abstract: A retardation film, formed by stretching a film comprising a norbornene-based ring-opening copolymer containing a structural unit (A) represented by the following general formula (1): [in the formula (1), n represents an integer of any one of 0 and 1, R1 represents a hydrogen atom or the like, X1 represents a group represented by a formula: —CH?CH— or the like, a and b each independently represent an integer of 0 to 6, Ys each independently represent a methylene group or the like, and Zs each independently represent a methylene group or the like], and a structural unit (B) represented by the following general formula (2): [in the formula (2), m represents an integer of any one of 0 and 1, X2 represents a group represented by a formula: —CH?CH— or the like, and R2, R3, R4, and R5 each independently represent a hydrogen atom or the like], wherein a content of the structural unit (A) is not less than 5 mol % but not more than 95 mol % relative to a total amount of the structural units (A

Abstract: To simplify the structure and improve the performance of virtualization software. There is provided virtualization unit for capturing a configuration access to a physical device from a virtual CPU, identifying a partition to which the physical device belongs from a device address of the physical device accessed by the virtual CPU, and if the physical device does not belong to the virtual CPU's own partition, replacing a content of a configuration register that identifies the physical device with information on a nonexistent dummy device, and notifying the resultant to the virtual CPU. The physical device not belonging to the virtual CPU's own partition is recognized as a named valid device by using a dummy device driver corresponding to the dummy device. The dummy device driver rejects execution of processing common to all physical devices that is requested by the virtual CPU and disturbs operation of a physical device belonging to another partition.

Abstract: A reverse dispersion retardation film is formed by stretching a film containing a norbornene-based ring-opening copolymer containing a structural unit (A) represented by a general formula (1) and a structural unit (B) represented by a general formula (2), wherein a total amount of the structural unit (A) and an exo-form structural unit, among the structural units (B), is not less than 20 mol % but not more than 65 mol % of all the structural units.

Abstract: A method for producing a norbornene derivative includes forming a Mannich base represented by any of general formulae (5) to (7) by reacting a carbonyl compound represented by any of general formulae (1) to (3) and an amine compound represented by general formula (4) with each other in an acidic solvent, to thereby obtain a reaction liquid comprising the Mannich base in the acidic solvent, wherein the acidic solvent comprises a formaldehyde derivative and 0.01 mol/L or more of an acid represented by formula HX; reacting the Mannich base and a diene compound represented by general formula (8) with each other by adding an organic solvent, a base in an amount of 1.0 to 20.0 equivalents to the acid, and the diene compound to the reaction liquid, and then heating the reaction liquid, to thereby form the norbornene derivative represented by any of general formulae (9) to (11).

Abstract: A reverse dispersion retardation film, formed by stretching a film comprising a norbornene-based ring-opening copolymer containing a structural unit (A) represented by the following general formula (1): [in the formula (1), m represents an integer of any one of 0 and 1, R1 represents a hydrogen atom or the like, X1 represents a group represented by a formula: —CH2CH2— or the like, a and b each independently represent an integer of 0 to 6, Y represents a methylene group or the like, and represents a methylene group or the like] and a structural unit (B) represented by the following general formula (2): [in the formula (2), n represents an integer of any one of 0 and 1, X2 represents a group represented by a formula: —CH2CH2— or the like, R2, R3, R4, and R5 each represent a hydrogen atom or the like, wavy lines d and e each represent a configuration of any one of an endo and an exo, and a wavy line f represents a configuration of any one of an endo and an exo], wherein a total amount of the structural u

Abstract: An electrode position control method according to the present invention includes a voltage detecting step of detecting voltages on a leading electrode and a trailing electrode that are brought into contact with a welding workpiece, a sensing step of detecting positional information of the welding workpiece from electrical changes in the voltages, a correction amount calculating step of calculating a correction amount for correcting for positional displacement of each of the leading electrode and the trailing electrode with respect to a weld line from the positional information, and a position correcting step of correcting the respective positions of the electrodes by adding or subtracting the correction amount.

Abstract: A robot controller that controls a tandem arc welding system according to the present invention includes a leading-electrode correcting section that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode changing amount calculated by a leading-electrode processing section; a leading-electrode correcting section that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode processing section; a rotational-displacement correction controlling processing section that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section that corrects a teaching position and a position of a rotational center of a welding torch during tracking correction.

Abstract: A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

Abstract: To simplify the structure and improve the performance of virtualization software. There is provided virtualization unit for capturing a configuration access to a physical device from a virtual CPU, identifying a partition to which the physical device belongs from a device address of the physical device accessed by the virtual CPU, and if the physical device does not belong to the virtual CPU's own partition, replacing a content of a configuration register that identifies the physical device with information on a nonexistent dummy device, and notifying the resultant to the virtual CPU. The physical device not belonging to the virtual CPU's own partition is recognized as a named valid device by using a dummy device driver corresponding to the dummy device. The dummy device driver rejects execution of processing common to all physical devices that is requested by the virtual CPU and disturbs operation of a physical device belonging to another partition.

Abstract: A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

Abstract: It is to provide a liquid crystal composition containing at least one type of optically active compounds of the following formulae (1) to (4), and a liquid crystal electro-optical element excellent in display quality.

Abstract: A lithium polymer battery includes a cathode, an anode and a porous separator disposed between the cathode and the anode. A first polymeric electrolyte is positioned on a first surface of the separator in contact with the cathode. A second polymeric electrolyte is positioned on a second surface of the separator layer in contact with the anode. The first and second polymeric electrolytes use host polymers having different pH levels in an aqueous solution extracted using water.

Abstract: It is to provide a liquid crystal composition containing at least one type of optically active compounds of the following formulae (1) to (4), and a liquid crystal electro-optical element excellent in display quality. In each formula, C* is asymmetric carbon, and the respective symbols are as defined in description.

Abstract: A lithium polymer battery includes a cathode, an anode and a porous separator disposed between the cathode and the anode. A first polymeric electrolyte is positioned on a first surface of the separator in contact with the cathode. A second polymeric electrolyte is positioned on a second surface of the separator layer in contact with the anode. The first and second polymeric electrolytes use host polymers having different pH levels in an aqueous solution extracted using water.