Abstract: The present invention provides a mobile robot that can simultaneously absorb an impact received from an uneven road surface while moving and estimate the position or orientation of the mobile robot while functioning. The mobile robot according to the present invention has an operation mechanism having a multi-jointed arm, and a movement mechanism that causes the operation mechanism to move, the mobile robot being characterized in that: the movement mechanism has a first support part and a second support part, which support the weight of the movement mechanism; and the second support part is installed at a position that is nearer to an outer peripheral section, in terms of the movement direction of the movement mechanism, than is the installation position of the first support part.

Abstract: An electric device includes a sounding body, a sound source storing unit storing actual use sound sources, a correction value storing unit, a sound pressure correction unit, and a control unit. The correction value storing unit stores correction values for correcting the actual use sound sources, respectively, so that respective sound pressures of the actual use sound sources reproduced from the sounding body are brought close to respective target values when the actual use sound sources are reproduced by the sounding body. The sound pressure correction unit obtains corrected actual use sound sources by correcting the actual use sound sources with the corresponding correction values. The control unit synthesizes the corrected actual use sound sources and controls the sounding body to reproduce a synthesized actual use sound source from the sounding body.

Abstract: The purpose of the present disclosure is, in a bubble generating device provided with a bubble generating unit for generating minute bubbles in water flowing through the inside of the cylindrical main body unit, to improve the bubble generating efficiency of the bubble generating unit. Provided is a bubble generating device provided with a cylindrical main body unit and a bubble generating unit disposed within the main body, wherein: the bubble generating unit is provided with slits extending radially centered on one point within the main body unit in a cross-sectional plane of the main body unit, and a column part protruding from the inner peripheral surface of main body unit and formed on the peripheral edge of the slits; and the amount of protrusion of the column part is gradually reduced toward the upstream side from the peripheral edges of the slits, and the column part has a recessed part formed on the downstream surface.

Abstract: The purpose of the present disclosure is, in a bubble generating device provided with a bubble generating unit for generating minute bubbles in water flowing through the inside of the cylindrical main body unit, to improve the bubble generating efficiency of the bubble generating unit. Provided is a bubble generating device provided with a cylindrical main body unit and a bubble generating unit disposed within the main body, wherein: the bubble generating unit is provided with slits extending radially centered on one point within the main body unit in a cross-sectional plane of the main body unit, and a column part protruding from the inner peripheral surface of main body unit and formed on the peripheral edge of the slits; and the amount of protrusion of the column part is gradually reduced toward the upstream side from the peripheral edges of the slits, and the column part has a recessed part formed on the downstream surface.

Abstract: In a fine bubble generator having a structure in which a columnar portion protrudes from an orifice of a tubular member, the presence of the columnar portion inhibits a flow of a fluid, so that a flow rate of the fluid that generates fine bubbles is limited. In addition, foreign matter may be sandwiched between the columnar portions. It takes time and effort to manufacture the columnar portions. Furthermore, when the columnar portion is supported in a cantilever state, it is difficult to ensure mechanical rigidity and also to ensure durability. A fine bubble generator includes: an inlet portion that gradually reduces in diameter from an inlet of a tubular body; an orifice continuous to the inlet portion; and an enlarged-diameter portion continuous to the orifice, and the inlet portion, the orifice and the enlarged-diameter portion are sequentially formed.

Abstract: The purpose of the present disclosure is, in a bubble generating device provided with a bubble generating unit for generating minute bubbles in water flowing through the inside of the cylindrical main body unit, to improve the bubble generating efficiency of the bubble generating unit. Provided is a bubble generating device provided with a cylindrical main body unit and a bubble generating unit disposed within the main body, wherein: the bubble generating unit is provided with slits extending radially centered on one point within the main body unit in a cross-sectional plane of the main body unit, and a column part protruding from the inner peripheral surface of main body unit and formed on the peripheral edge of the slits; and the amount of protrusion of the column part is gradually reduced toward the upstream side from the peripheral edges of the slits, and the column part has a recessed part formed on the downstream surface.

Abstract: The purpose of the present disclosure is, in a bubble generating device provided with a bubble generating unit for generating minute bubbles in water flowing through the inside of the cylindrical main body unit, to improve the bubble generating efficiency of the bubble generating unit. Provided is a bubble generating device provided with a cylindrical main body unit and a bubble generating unit disposed within the main body, wherein: the bubble generating unit is provided with slits extending radially centered on one point within the main body unit in a cross-sectional plane of the main body unit, and a column part protruding from the inner peripheral surface of main body unit and formed on the peripheral edge of the slits; and the amount of protrusion of the column part is gradually reduced toward the upstream side from the peripheral edges of the slits, and the column part has a recessed part formed on the downstream surface.

Abstract: An object is to provide a method for producing a polysaccharide derivative without using a catalyst, a cocatalyst, or an active compound by esterification, etherification, or the like, from a polysaccharide such as cellulose as a source material, while maintaining a high molecular weight. Another object is to provide a method for producing a cellulose derivative in a separated condition directly from biomass containing lignocellulose. A method for producing a polysaccharide derivative of the present invention is characterized in that a reaction is carried out in a mixture comprising: a source material comprising a polysaccharide; an ionic liquid for which the pKa of a conjugate acid of an anion in DMSO is 12 to 19 and which is capable of producing a carbene; and a chain or cyclic ester compound or an epoxy compound. Preferably as a source material containing a polysaccharide, a biomass source material containing lignocellulose is used.

Abstract: The purpose of the present disclosure is, in a bubble generating device provided with a bubble generating unit for generating minute bubbles in water flowing through the inside of the cylindrical main body unit, to improve the bubble generating efficiency of the bubble generating unit. Provided is a bubble generating device provided with a cylindrical main body unit and a bubble generating unit disposed within the main body, wherein: the bubble generating unit is provided with slits extending radially centered on one point within the main body unit in a cross-sectional plane of the main body unit, and a column part protruding from the inner peripheral surface of main body unit and formed on the peripheral edge of the slits; and the amount of protrusion of the column part is gradually reduced toward the upstream side from the peripheral edges of the slits, and the column part has a recessed part formed on the downstream surface.

Abstract: An object is to provide a method for producing a polysaccharide derivative without using a catalyst, a cocatalyst, or an active compound by esterification, etherification, or the like, from a polysaccharide such as cellulose as a source material, while maintaining a high molecular weight. Another object is to provide a method for producing a cellulose derivative in a separated condition directly from biomass containing lignocellulose. A method for producing a polysaccharide derivative of the present invention is characterized in that a reaction is carried out in a mixture comprising: a source material comprising a polysaccharide; an ionic liquid for which the pKa of a conjugate acid of an anion in DMSO is 12 to 19 and which is capable of producing a carbene; and a chain or cyclic ester compound or an epoxy compound. Preferably as a source material containing a polysaccharide, a biomass source material containing lignocellulose is used.

Abstract: Provided is a bubble generating mechanism that does not use a complicated air mixing mechanism and generates micro-bubbles in a sufficient quantity. A flow path (2) that connects an inflow opening (2n) that opens on an inflow end and an outflow opening (2x) that opens on an outflow end is formed in a state passing completely through a member main body (6), and a constricted part (2c) the flow-through cross-sectional area of which is smaller than the inflow opening (2n) is formed in a position within that flow path (2). Colliding parts (3) that further reduce the cross-sectional area of the flow path in the constricted part (2c) are disposed in the constricted part (2c) in a state that divides the axial plane of the flow path (2) into three or more segment areas (2e).

Abstract: Provided is a bubble generating mechanism that does not use a complicated air mixing mechanism and generates micro-bubbles in a sufficient quantity. A flow path (2) that connects an inflow opening (2n) that opens on an inflow end and an outflow opening (2x) that opens on an outflow end is formed in a state passing completely through a member main body (6), and a constricted part (2c) the flow-through cross-sectional area of which is smaller than the inflow opening (2n) is formed in a position within that flow path (2). Colliding parts (3) that further reduce the cross-sectional area of the flow path in the constricted part (2c) are disposed in the constricted part (2c) in a state that divides the axial plane of the flow path (2) into three or more segment areas (2e).

Abstract: An illegal data use prevention system includes a registrar which issues first authentication information for a game machine reproducing data and second authentication information for a user-identifying IC card. The data is identified by the first authentication information and the second authentication information. The game machine contains the first authentication information and, for example, executes a game program in accordance with a result of determination as to whether the IC card contains the second authentication information. Thus, illegal use of data is effectively prevented.

Abstract: An illegal data use prevention system includes a registrar which issues first authentication information for a game machine reproducing data and second authentication information for a user-identifying IC card. The data is identified by the first authentication information and the second authentication information. The game machine contains the first authentication information and, for example, executes a game program in accordance with a result of determination as to whether the IC card contains the second authentication information. Thus, illegal use of data is effectively prevented.

Abstract: A semiconductor integrated circuit of the present invention features that a voltage is stably applied to a cell for high-speed operation and the number of lengthy wirings which run around a cell row is reduced without increasing a chip area, so that line efficiency can be improved. Since a power source line 16 and a ground line 17, each having a wide line running width, are formed on a top line layer above a cell 1 so as to cover nearly the whole surface of the cell 1, electrical resistance of the power source line 16 and the ground line 17 is reduced and then the voltage applied to the cell for high-speed operation is stabilized and such design is enabled without increasing the chip area. In addition, since penetrating lines 18 and 19 are formed on the lower line layer on a border between the cells, the number of lengthy lines which run around the cell row can be reduced by using the penetrating lines 18 and 19 as connecting between cells, so that line efficiency can be improved.

Abstract: There is provided a semiconductor integrated circuit device in which a unit circuit element row is formed by connecting unit circuit elements in a second direction, whose first length in a first direction crossing the second direction is predetermined and second length in the second direction can be varied, and a plurality of unit circuit element rows are connected to each other by connecting lines. The semiconductor integrated circuit device includes a first unit circuit element arranged apart from the nearest connecting line along the first direction by a first reference distance and a second unit circuit element projected in the first direction and arranged apart from the nearest connecting line by a second reference distance which is shorter than the first reference distance, whose second length in the second direction is reduced in comparison with the first length of the first unit circuit element.

Abstract: A semiconductor integrated circuit includes a semiconductor chip having a predetermined circuit device and a PN junction diode group formed on the surface thereof. The PN junction diode group is supplied with a constant current in the forward direction, whereby the potential difference between the terminals thereof changes according to the surface temperature of the semiconductor chip. A potential difference generating circuit generates a fixed potential difference corresponding to a predetermined limit temperature of the chip surface, whereby the potential difference between the terminals of the PN junction diode group is compared with the fixed potential difference. As a result, when the determination in made that the temperature of the semiconductor chip surface reaches the limit temperature, the operation of the circuit device is temporarily or completely halted.

Abstract: Means are provided for determining the TOD (total oxygen demand) of combustible materials contained in water, principally, sea water.Test water containing halides of alkali metals or alkaline earth metals, such as sea water, is burned in an oxygen-containing inert gas flowing through a combustion tube which contains a catalyst and which is heated to a combustion supporting temperature. The amount of oxygen consumed is measured.Inside the said combustion tube, down the gas stream from the catalyst, is provided a decomposing agent which consists of a hydroxide or carbonate of an alkali metal, or a hydroxide, oxide or carbonate of an alkaline earth metal, or of any mixture of them, thereby to decompose into sodium chloride and oxygen the sodium hypochlorite which was formed from the combustion of the test water.

Abstract: A method and an apparatus are provided for determining the total oxygen demand of combustible materials in an aqueous dispersion.In the first step, a feed gas stream composed of an inert gas containing oxygen is continuously supplied at a constant rate to a combustion conduit having a porous catalyst bed within a combustion zone which is heated at a combustion supporting temperature and an effluent gas from the combustion conduit is supplied to an oxygen detector. In the second step, by means of a bypass the flow rate of the feed gas stream is decreased to a value lower than that of the first step. In the third step, a small sample of the combustible material in an aqueous dispersion is injected into the combustion supporting feed gas stream in advance of the catalyst bed within the combustion zone. As the sample is introduced into the combustion conduit, the combustible materials in the aqueous dispersion are burned.

Abstract: A process and apparatus for determining total oxygen demand of combustible materials in aqueous dispersion. The total oxygen demand is determined as the difference in concentration of oxygen within two feed gas streams composed of an inert gas containing oxygen; the first feed gas stream serving as the reference and the second feed gas stream serving as the combustion supporting one, which passes through a combustion conduit having a porous catalyst bed and contained within a combustion zone which is heated to a combustion supporting temperature. A small sample of the combustible material in aqueous dispersion is injected into the combustion supporting feed gas stream in advance of the catalyst bed within the combustion zone. As the sample is swept through the combustion conduit, the combustible materials in aqueous dispersion are burned.