Abstract: The present invention provides compounds indicated by general formula [1] and having mPGES-1 inhibitory activity, a pharmaceutically acceptable salt thereof, or a solvate thereof (in the formula, R1 and R2 each independently indicate hydrogen, halogen or substitutable alkyl, R3 indicates —SO2 R5 or —COR5, R4 indicates substitutable alkyl, cycloalkyl, aryl, heteroaryl, saturated heterocyclic group or arylalkyl, and R5 indicates a substitutable alkyl, cycloalkyl, aryl, heteroaryl, saturated heterocyclic group, alkynyl or arylalkyl).

Abstract: An operation control device that controls an operation of a robot having a plurality of arms and end effectors connected to each of the arms includes an acquisition unit configured to acquire an operation instruction including a target position of the end effector from an operator, a relative relationship maintenance instruction unit configured to issue an instruction to keep a relative relationship between the end effectors constant, a control command generation unit configured to correct a target position of the end effector to maintain a relative relationship between the end effectors in response to the operation instruction acquired according to an instruction from the relative relationship maintenance instruction unit, and to calculate a joint angle target of the arm based on the corrected target position of the end effector.

Abstract: A robot control system includes: a communication unit configured to input and output information from and to one or more operation terminals remotely operating at least one of one or more robots; an acquisition unit configured to acquire operation input information which is input by the operation terminal; a task determining unit configured to set a task of the robot on the basis of operation details acquired by the acquisition unit and to determine which of an automatic control process and an input-requiring process requiring an input from an operator the task is; and a motion control unit configured to control a motion of the robot on the basis of automatic control data of the automatic control process and the operation input information input for the input-requiring process determined by the task determining unit.

Abstract: A novel prophylactic agent or therapeutic agent for functional gastrointestinal disorders or xerostomia is provided. The present invention is a therapeutic agent or prophylactic agent for functional gastrointestinal disorders, containing an azabenzimidazole compound represented by the following formula [1] (each symbol in the formula is as described in the specification), or a pharmaceutically acceptable salt thereof, or a solvate thereof, as an active ingredient.