Abstract: A learning assistance system includes an operation control unit, a parameter acquisition unit, and a display control unit. The operation control unit causes an apparatus to be controlled to operate in accordance with force tactile sensation during operation by a user. The parameter acquisition unit acquires control parameters that are used for the control by the operation control unit. The operation control unit and the display control unit comparably provide, to a second user, a first control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the first user and a second control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the second user.

Abstract: Provided is technology for more appropriately realizing a human physical-act using a robot. This position/force control device comprises: an act time information retaining means for retaining a time interval or a time stamp of an act, in addition to act information when the act is recorded; a control reference information generation means for generating, from the recorded act information, information to serve as a control reference when the act is replicated; a control timing determination means for determining, from the recorded act time information, a timing for outputting the control reference information when the act is replicated; and a position/force control means for replicating the act on the basis of the generated control reference information and the determined control timing.

Abstract: A paper money processor according to the present invention includes a transaction slot where paper money is at least either inserted or dispensed with an orientation such that one of lengthwise ends of the paper money is positioned at a side of a first lengthwise end of the transaction slot. The transaction slot includes a main opening which opens on a second lengthwise end of the transaction slot, and a lateral opening which is continuous with the main opening, and opens on a first widthwise end of the transaction slot.

Abstract: A paper money processor according to the present invention includes a transaction slot where paper money is at least either inserted or dispensed with an orientation such that one of lengthwise ends of the paper money is positioned at a side of a first lengthwise end of the transaction slot. The transaction slot includes a main opening which opens on a second lengthwise end of the transaction slot, and a lateral opening which is continuous with the main opening, and opens on a first widthwise end of the transaction slot.

Abstract: A position/force control device includes position detectors on a master 1 side and on a slave 3 side. Reaction force estimation observers 2 and 4 estimate reaction force based on outputs of the position detectors. A position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4. The acceleration composition part 7 composes the two sets of acceleration signals apm, aps, and afm, afs, and outputs the driving signals for the master side and the slave side.

Abstract: A laser beam machine for processing an article to be processed with a laser beam from a processing scanner 1 comprised of an optical system employing a laser oscillator 10. Article position controllers 2a and 2b are controlled in a coordinated manner in accordance with the direction of the laser beam from said processing scanner 1 such that the position of a surface to be processed of the article is controlled to be nearly perpendicular to the direction of the laser beam from the processing scanner 1. While an article to be processed mounted on one article position controller 2a is being processed and unloaded, another article to be processed can be loaded onto the other article position controller 2b. Thus, the wait time for the laser beam machine can be reduced and production efficiency can be improved.

Abstract: An image detector for bank notes is provided which can be made at low cost and in small size. The image detector comprises a pair of detector units 13 includes a first image detection sensor 24 which detects an image of a first detection area mounted on one side of a detector unit 18, a first light emitting device 27 which irradiates light towards the first detection area, and a second light emitting device 31 which irradiates light towards a second detection area mounted on one side of the unit main body 18 but in a different location from the first detection area, a pair of detector units is disposed so as to oppose one another across a bank note transportation path 12, in a manner which enables the image detection sensor 24 of one of the detection units 13 to detect an image of the second detection area of the other of the detection units 13.

Abstract: This invention of the position/force control device intends to improve response performance in high frequency band and to ensure realization of a delicate work. A position detector is provided each on a master 1 side and on a slave 3 side, respectively, and reaction force estimation observers 2 and 4 estimate reaction force undergone by the operation part of the master side and reaction force undergone by the object of the slave side on the basis of outputs of the position detectors. The position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors of the master side and of the slave side. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4.

Abstract: An image detector for bank notes is provided which can be made at low cost and in small size. The image detector comprises a pair of detector units 13 includes a first image detection sensor 24 which detects an image of a first detection area mounted on one side of a detector unit 18, a first light emitting device 27 which irradiates light towards the first detection area, and a second light emitting device 31 which irradiates light towards a second detection area mounted on one side of the unit main body 18 but in a different location from the first detection area, a pair of detector units is disposed so as to oppose one another across a bank note transportation path 12, in a manner which enables the image detection sensor 24 of one of the detection units 13 to detect an image of the second detection area of the other of the detection units 13.

Abstract: A machine tool is structured enhance rigidity of a slide member opposing to a cutting force acting on a tool spindle with no extra increase in weight, thereby intending to lighten the slide member. The machine tool comprises a tool spindle rotating around an axis extending along an Z-axis, a slide member slidable in at least one of the X-axis, Y-axis and Z-axis directions and a guide apparatus having a straight rail and movably supporting the slide member on the guide rail and disposed such that three supporting points for supporting the slide member form vertexes of a triangle as seen from the X-axis direction. Further, in another construction, two sets of linear guide mechanism and a linear motor for guiding each of an upper portion and a lower portion of a gantry are respectively disposed between a lower surface of the gantry and a base, and between a front surface of a cross beam and an upper back surface of the gantry, so that the cross beam does not lap over the upper surface of the gantry.

Abstract: A bill handling machine includes a take-out roller whose entire circumferential surface is formed with a high friction material and which is adapted to engage with leading edge portions of stacked bills and can take out the bills, a separation roller for cooperating with the take-out roller and preventing two or more bills from being simultaneously taken out, a bill sensor provided downstream of the take-out roller and the separation roller for detecting whether or not any bill is present, transporting rollers provided downstream of the bill sensor and rotated at higher speed than the take-out roller, and a controller for temporarily stopping the take-out roller when detection signals have been continuously input from the bill sensor for a time period longer than a predetermined time period. According to the thus constituted bill handling machine, it is possible to reliably and efficiently separate and handle bills whose lengths in the bill transporting direction differ greatly.

Abstract: A bill handling machine includes a rotatable drum provided with a bill transport arrangement in which a bill transporting passage is formed therein and movable between a transport position where it can hold bills in the bill transporting passage so as to be able to transport them and a release position where it releases the holding of the bills and a shutter which can open and close one end portion of the bill transporting passage, and a vibrating mechanism for applying slight vibration to the drum, while the one end portion of the bill transporting passage is closed by the shutter, the bill transporting passage is oriented vertically so that the shutter is directed downwardly as a result of the rotation of the drum and the bill transport arrangement has been moved to the release position. According to the thus constituted bill handling machine, it is possible to reliably align one end portions of bills whose sizes differ greatly and efficiently handle bills.

Abstract: A bill handling machine includes a bill placement base on which bills to be handled are placed, a bill transaction section through which the bills are received and fed out and a drum provided adjacent to the bill placement base, the drum including a pair of endless drive belts and a pair of movable endless driven belts which are disposed so as to face the endless drive belts and are adapted to hold the bills between the endless drive belts and themselves, a bill transportation passage being formed in the drum by the endless drive belts and the endless driven belts, the length of the bill transport passage being determined to be slightly greater than a length of a bill in a transporting direction whose length in the transporting direction is greatest among the bills to be handled, the bill handling machine further including a shutter which can project into and be retracted from the bill transportation passage, a length between an end portion of the bill placement base on a side opposite from the drum and the s

Abstract: A bill handling machine is provided with a bill stacking device including a bill press member whose leading end portion is swingably supported and which is adapted to guide bills downwardly, a solenoid for pressing the leading end portion of the bill press member downwardly, a sensor for detecting rear end portions of bills to be stacked, and a controller for actuating, based on a detection signal, the solenoid when a predetermined time period has passed after the sensor detected the rear end portion of the bill. According to the thus constituted bill handling machine, it is possible to stack bills whose lengths in the bill transport direction differ greatly so that one end portions thereof are aligned.

Abstract: A bill handling machine is provided with a bill hold and transport arrangement which can hold bills therebetween and transport them downwardly and a bill receiving device for receiving the bills, the bill receiving device including endless drive belts fixed and extending vertically, endless driven belts movable relative to the endless drive belts and extending vertically so as to hold the bills fed from the bill hold and transport arrangement between themselves and the endless drive belts, a bill press member supported integrally with the endless driven belts, movable between a projected position where it is closer to the endless drive belts than surfaces of the endless driven belts on a side of the endless drive belts and a retracted position where it is more apart from the endless drive belts than the surfaces of the endless driven belts on a side of the endless drive belts and biased toward the endless drive belts, and a plate member located below the endless drive belts and the endless driven belts, the b

Abstract: A workpiece rotational speed controller having a pulse counter responsive to a pulse signal generated from a pulse generator for indicating the actual angular position of a cam shaft during grinding on a cam grinding machine and a comparator for comparing a count value of the counter with any one of set values which are set in a plurality of digital switches to designate respective speed change positions. A region detection counter is further provided, which counts any coincidence signal from the comparator so as to enable a command voltage generator to apply to a servomotor for cam shaft drive a command voltage that changes step by step in correspondence to the region detection counter output. This counter output is also applied to a gate circuit, which is thus enabled to selectively apply the set values of the digital switches to the comparator.

Abstract: An apparatus for truing and dressing a grinding wheel made of cubic boron nitride is provided. A support head supporting a truing wheel and another support head supporting a dressing roll are separately and independently arranged on a wheel support of a grinding machine. The truing wheel is rotated in the same direction as is the grinding wheel so as to true the grinding wheel in an up-cut manner, and the dressing roll is rotated in a direction opposite to that of the grinding wheel so as to dress the grinding wheel in a down-cut manner. The dressing roll is fed toward the grinding wheel to be ground thereby and then returned a predetermined amount away from the grinding wheel prior to a truing operation.

Abstract: A loop-style continuous ion exchange unit having a liquid treating section, a material weighing and transfer section, a regeneration section, a washing section and a back-washing section, all of which are connected together in a closed loop. The back-washing section is above the liquid treating section to enable material to fall by gravity into the liquid treating section. The liquid treating section is located above the material weighing and transfer section so that material can fall by gravity into the material weighing and transfer section. The washing area has an outlet located above the back-washing area so that washed material may flow by gravity to the back-washing area. Further, an expansion space is provided above the washing area to compensate for expansion of the material when it is washed.