Abstract: An exhaust pipe structure for a hybrid vehicle includes an exhaust pipe, which includes bent portions and is connected to an internal combustion engine. The exhaust pipe includes a front-rear direction extended part, a catalytic part, and a joint part. The front-rear direction extended part extends in a front-rear direction of the hybrid vehicle and is secured to the hybrid vehicle. The catalytic part is positioned between a driving battery pack disposed under a floor of a vehicle body of the hybrid vehicle and the internal combustion engine, adjacent to the driving battery pack, and is inclined with respect to the front-rear direction extended part. The joint part rotatably joints the catalytic part to the front-rear direction extended part.

Abstract: An exhaust pipe structure for a hybrid vehicle includes an exhaust pipe, which includes bent portions and is connected to an internal combustion engine. The exhaust pipe includes a front-rear direction extended part, a catalytic part, and a joint part. The front-rear direction extended part extends in a front-rear direction of the hybrid vehicle and is secured to the hybrid vehicle. The catalytic part is positioned between a driving battery pack disposed under a floor of a vehicle body of the hybrid vehicle and the internal combustion engine, adjacent to the driving battery pack, and is inclined with respect to the front-rear direction extended part. The joint part rotatably joints the catalytic part to the front-rear direction extended part.

Abstract: A method of loading a pallet that begins by showing a plan view of the pallet on a display screen. The direction and patterns of articles to be placed on the pallet are shown in the plan view. The pattern of articles is then moved to a selected position in the plan view of the display screen. The layout of articles is determined by changing the direction of the pattern to a selected direction. Using this method, positioning of goods on a pallet is done on the basis of the pallet and previously loaded articles. Once the pattern of articles has been determined, the given tier of the pallet is generated.

Abstract: A method of teaching a robot off-line having a traveling axis, by which the final position and final posture are determined when a robot having a traveling axis stops at an arbitrary position on a traveling axis. The method is able to take an arbitrary posture at the arbitrary position, change from the arbitrary position and arbitrary posture, and move a control point of the robot until it agrees with a movement target point. This position on the traveling axis of the robot is determined so as to minimize the distance between a coordinate origin of the robot a movement target point.

Abstract: An immunological assay method, wherein the concentration of a substance to be assayed is calculated from a calibration curve, which is formed in the preparation of a reagent or in the assay of a sample based on parameter(s) determined in the preparation of the reagent, without the need of forming any additional calibration curve each time, is disclosed. By the immunological assay method of the present invention, the concentration of the substance to be assayed can be efficiently and discontinuously determined, when compared with conventional ones. The method of the present invention is particularly suitable for quantitatively determining an antigen or an antibody.