Abstract: A means for recognizing surrounding circumstances of a vehicle in a plurality of directions, a means for providing alarm information to a driver according to surrounding information output from the means for recognizing surrounding circumstances, and a means for receiving an alarm information request so as to control the means for providing alarm information using an instruction from the driver as a trigger, are provided. The means for receiving an alarm information request specifies a direction of the surrounding information to be output according to the instruction from the driver, and outputs information of an identified direction as the trigger to the means for providing alarm information. The means for providing alarm information switches alarm information to be provided according to the instruction from the driver, based on the information of the direction output from the means for receiving an alarm information request.

Abstract: This invention provides a sustained release composition comprising a PLGA matrix, a bioactive agent, and a quaternary ammonium surfactant, in which the release profile of the bioactive agent from the PLGA matrix is controlled by the concentration of the quaternary ammonium surfactant.

Abstract: A colloid solution for preparing a suspension, containing one or more components selected from Group A and one or more components selected from Group B as dispersoids, and water as a dispersant medium, the colloid solution being at a pH such that suspensoid particles added thereto are positively charged; wherein Group A consists of xylitol, D-sorbitol, D-mannitol, lactose, saccharose, cyclodextrin, maltose, D-fructose, D-glucose and galactose; and Group B consists of sodium carboxymethylcellulose, sodium alginate, sodium polyacrylate and gum arabic.

Abstract: A stereoscopic imaging system enabling observation of a stereoscopic image due to parallax by reproducing, on a single screen in an image-reproducing means two kinds of images of an object which are taken by two imaging units and between which there is parallax and by observing the images in such a manner that the left and right eyes of the observer observe only the separate images taken by the separate imaging units corresponding to the left and right eyes, wherein there is provided swing means for mechanically or electronically shifting the optical axes of the respective lenses of said two imaging units, by which swing means the observer can view a stereoscopic image without fatigue and in a natural condition.

Abstract: A master slave manipulator system includes a master arm having six or more axes of motion and an articulated slave arm having six or more axes of motion and being shaped in sharp contrast with the master arm. The master arm has an arm body with three axes perpendicular to each other and a wrist assembly connected to the arm body. The wrist assembly has a gripper disposed in a space of a size large enough for an operator to operate the gripper with his clutched hand in X, Y and Z directions and also has a pitch-axis, a yaw-axis and a roll-axis all disposed outside of the space. The pitch-axis, yaw-axis and roll-axis have output axes directed toward the gripper. The slave arm has an arm body with axes longitudinally stretchable or foldable into parallel positions, and a wrist assembly having three axes disposed in a space of predetermined dimensions in X, Y and Z directions. The output axes of the three axes of the slave arm wrist assembly are directed away from the mounting portions of these axes.

Abstract: After positional information of the master arm is transformed into first generalized world coordinates corresponding to positional information representing a calculated position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized world coordinates are transformed into the second generalized world coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.

Abstract: In a controlling apparatus of a manipulator equipped with a master arm and a slave arm, a processing device is provided for effecting scale conversion calculation of a calculation result representing the position data of the master arm for expansion or reduction, and for outputting the result of this calculation to the slave arm.

Abstract: In processing topographical information necessary for the traveling of a robot or the like furnished with an automatic traveling function; topography is predicted from the topographical information previously given, so as to prepare a predictive image, a difference image between the predictive image and an actual image caught by a television camera installed on the robot or the like is obtained, and the obtained result if used for correcting the topographical information previously given.

Abstract: Tactile sensing apparatus for detecting a tactile sense with an object to-be-handled, comprising a plurality of pressure sensing devices, a processor which processes outputs of the pressure sensing devices, and a touch device which contacts with the respective pressure sensing devices in common, whereby information items on a pressure sense, a viscosity sense and a slip sense are simultaneously detected with the outputs of the pressure sensing devices which vary depending upon a direction and a magnitude of a force acting on the touch device.

Abstract: In a navigation apparatus for guiding a mobile system along a predetermined path, an image obtained by measuring an actual environment is compared with a predicted image stored in advance, and a guidance signal is delivered to the mobile system on the basis of the comparison of the images.

Abstract: In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.

Abstract: An article transporting apparatus for inserting an article into a port of a vessel and removing the article from the vessel through the port and for transporting the article in a direction transverse to the inserting and removing direction within the vessel. The apparatus includes a frame movable into and out from the vessel through the port, a parallel link mechanism mounted on the frame for transporting the article in a direction transverse to a direction of movement of the frame, a device for driving the parallel link mechanism, and a device for connecting the end of the parallel link mechanism to the article.

Abstract: An actuator including a plurality of shape memory materials used as a drive source. The plurality of the shape memory materials being arranged in parallel between a stationary member and a movable member so as to enable the actuator to operate at high speed.

Abstract: In force sensing apparatus for a driving device which employs a shape memory alloy, note is taken of the fact that a force to be generated by the shape memory alloy varies depending upon the temperature or resistance and the displacement of the shape memory alloy, and force information on an output of the driving device is detected on the basis of information of the temperature or resistance and the displacment of the shape memory alloy.

Abstract: A picture processing apparatus for use in recognizing an ambient environment as a picture in accordance with the invention, includes a picture input for receiving a distorted picture of a wide angle of view, a picture processing unit which corrects the distorted picture of the wide angle of view from the picture input into an undistorted picture of the wide angle of view, and a display for displaying the undistorted picture of the wide angle of view produced by the picture processing unit.

Abstract: A vehicle has a pair of endless tracks each extending around a series of wheels arranged in a plane adjacent to one side of the vehicle body. One of the series of wheels on each side of the vehicle body is movable relative to the vehicle body to a selected position to vary the configuration of the endless track in side view so that the vehicle is given a superior running performance and is freely movable along paths having various obstacles.

Abstract: In a method and a system for inspection of the inside of a nuclear reactor vessel in which an inspection device for inspecting a defect in a nuclear reactor vessel is so moved by a drive/control device as to permit inspection of a part to be inspected in the reactor vessel, and the presence or absence of defect in the reactor vessel is judged based upon information from the inspection device in the course of the above-mentioned movement of the inspection device; the movement of the inspection device is pursued and monitored by monitor means, and the movement of the inspection device is suppressed when an abnormality in the movement of the inspection device is judged based upon information from the monitor means, to avoid the abnormal movement.

Abstract: Apparatus for applying liquids including a main body and a carrier supporting the main body for movement, the main body having mounted therein conduits and charge-over valves for supplying liquids, and spray nozzles for spraying the liquids in predetermined amounts onto a liquid-absorptive, resilient contacting member to enable the latter to apply the liquids to a surface by sliding rubbing contact therewith as the carrier is actuated or for spraying the liquids directly onto the surface. The liquids absorbed by the contacting member are squeezed therefrom when a surface cleaning operation or a liquid applying operation is completed or any time the contacting member is soiled, by bringing the contacting member into pressing engagement with a liquid receiving pan.

Abstract: A compact automatic pipe welding apparatus having a base member separable into three sections and having a welding unit, detecting unit and a driving unit which are distributed on the circumference of the base member at an equal distance from one another is suitable for use in welding work in limited space, as is the case of installation or repair of pipings in nuclear or chemical plant. For enhancing the welding precision, ring gears are provided for interlocking a plurality of clamping means for securing the base member to the pipe stably.