Abstract: Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: An electric power converter includes a plurality of power modules, a capacitor, a positive bus bar, and a negative bus bar. Each of the power modules includes a positive terminal and a negative terminal on a side facing the capacitor. Leading ends of the positive terminal and negative terminal are parallel to the side. The positive bus bar includes a positive/negative base plate joined to a positive/negative electrode of the capacitor and a positive/negative flange bent from the positive/negative base plate. The positive/negative flange is joined to the positive/negative terminals of the power modules. The positive flange and the negative flange extend in directions away from the capacitor.

Abstract: A beer beverage comprising 4-vinyl phenol (4VP) and 4-vinyl guaiacol (4VG) in the 4VG:4VP weight ratio of from 2.5-10, the overall weight proportion of 4VG and 4VP in the beverage being from 0.1 ppm to 0.6 ppm. The compounds provide desirable beer flavor characteristics to both beers and non-alcoholic beer beverages deficient in these characteristics.

Abstract: A therapeutic agent or prophylactic agent for Alzheimer's disease has an effect to inhibit or delay the progress of Alzheimer's disease and exhibits a long-lasting therapeutic effect on Alzheimer's disease even when used for a long period of time. The therapeutic agent or prophylactic agent for Alzheimer's disease includes as an effective ingredient a cyclohexane derivative exemplified by the formula below, or a pharmaceutically acceptable salt thereof or a prodrug thereof.

Abstract: A therapeutic agent or prophylactic agent for Alzheimer's disease has an effect to inhibit or delay the progress of Alzheimer's disease and exhibits a long-lasting therapeutic effect on Alzheimer's disease even when used for a long period of time. The therapeutic agent or prophylactic agent for Alzheimer's disease includes as an effective ingredient a cyclohexane derivative exemplified by the formula below, or a pharmaceutically acceptable salt thereof or a prodrug thereof.