Abstract: A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.

Abstract: A learning control device according to one embodiment includes one or more hardware processors. The hardware processors function as an update unit, a calculation unit, and a correction unit. The update unit serves to update a modified control input in accordance with a tracking error. The modified control input is used during a learning trial. The calculation unit serves to calculate a lag in a learning control start time in accordance with a state of a control target at a start of the learning control. The learning control start time is a time at which learning control starts. The correction unit serves to correct the modified control input having been updated by the update unit. The modified control input is corrected by using the lag to have a value obtained by offsetting the lag.

Abstract: In an embodiment, a processing device relating to an inspection of an inspection object by a photography unit is provided. A processor of the processing device calculates a plurality of photography points as positions photographing the inspection object based on shape data in which a shape of a surface of the inspection object is indicated by a point group, and information relating to a position and a normal vector on the surface of the inspection object is defined by the point group. The processor executes analysis regarding a path that passes through all of the calculated photography points and minimizes a sum of a movement cost from each of the photography points to a photography point of a next movement destination, and calculates a path corresponding to an analysis result as a path for moving the photography unit.

Abstract: An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.

Abstract: An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.

Abstract: A wire harness grommet includes a grommet body including a first flared portion, a second flared portion and a narrow portion between the first flared portion and the second flared portion. The first flared portion has a wire receiving opening extending therethrough for receiving one or more wires. A pull handle has a first end located at a first side of the first flared portion and a second end located at an opposite, second side of the first flared portion forming a closed loop.

Abstract: A power control circuit includes a converter, a signal generation circuit, and control circuitry. The converter includes a switching circuit. The converter transforms an output voltage from a power generator. The signal generation circuit operates the switching circuit of the converter. The control circuitry changes an operation of the switching circuit.

Abstract: A grommet includes a ring-shaped water stop portion inserted into a through hole formed in an attachment panel and performing water stopping, a closing portion projecting toward radial inside of the water stop portion and closing a ring shape of the water stop portion, a tube portion extending in a direction crossing an axis direction of the water stop portion and provided to penetrate the closing portion and through which a wire material is inserted, and a handle portion provided in an arch shape with respect to the closing portion with a central axis of the water stop portion serving as a center.

Abstract: A manipulator system according to an embodiment includes a manipulator, an actuator, and a control device. The actuator is configured to operate the manipulator. The control device is configured to control the actuator so that the manipulator moves while avoiding an obstacle. The control device controls the actuator so that an angle between a moving velocity vector of a first target point on the manipulator and a normal vector at a second target point on a surface of the obstacle is within 90°.

Abstract: A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.

Abstract: A wire harness grommet includes a grommet body including a first flared portion, a second flared portion and a narrow portion between the first flared portion and the second flared portion. The first flared portion has a wire receiving opening extending therethrough for receiving one or more wires. A pull handle has a first end located at a first side of the first flared portion and a second end located at an opposite, second side of the first flared portion forming a closed loop.

Abstract: A grommet includes a ring-shaped water stop portion inserted into a through hole formed in an attachment panel and performing water stopping, a closing portion projecting toward radial inside of the water stop portion and closing a ring shape of the water stop portion, a tube portion extending in a direction crossing an axis direction of the water stop portion and provided to penetrate the closing portion and through which a wire material is inserted, and a handle portion provided in an arch shape with respect to the closing portion with a central axis of the water stop portion serving as a center.

Abstract: An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.

Abstract: ‘Tochigi iW1 Go’ is a new variety of strawberry bred by crossbreeding variety ‘Wadahatsukoi’ and ‘09-52-1’ in 2012. The plant may be used, e.g., for cultivation of fruit for consumption. ‘Tochigi iW1 Go’ is a high-quality, high-yielding variety that produces a fruit having a white pericarp, a large fruit size, a high-yielding characteristic, and adaptability to forcing culture.

Abstract: According to an embodiment, an actuation system includes a movable member, an actuator, at least one image taking unit, a coordinate conversion unit and a first actuation control unit. The actuator moves the movable member. The coordinate conversion unit performs coordinate conversion from an image-taking coordinate system of a taken image taken by the image taking unit to an arithmetic coordinate system for performing comparison. The first actuation control unit controls the actuator to reduce a deviation according to visual servo in the arithmetic coordinate system.

Abstract: An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.

Abstract: A wire harness includes: a tubular outer member; and a conductive path which is inserted in and protected by the outer member. The conductive path includes a vibration suppressing portion which reduces a movable space of the conductive path at a prescribed position inside the outer member to suppress shaking of the conductive path. The vibration suppressing portion is formed by a partially increased thickness portion of a covering of the conductive path.

Abstract: A power control circuit includes a converter, a signal generation circuit, and control circuitry. The converter includes a switching circuit. The converter transforms an output voltage from a power generator. The signal generation circuit operates the switching circuit of the converter. The control circuitry changes an operation of the switching circuit.

Abstract: A ground terminal and a wire harness include a conductor connecting portion to which a linear conductor is connected, a plurality of fastening portions each of which is connected to the conductor connecting portion, is formed into a planar shape, and is capable of being fastened to a grounding surface through a fastening member in a state of facing the grounding surface, and a deformation portion that connects the fastening portions and is deformed more easily than the fastening portions. As a result, the ground terminal and the wire harness provide an effect of being properly fastened to the grounding surface.

Abstract: ‘Tochigi iW1 Go’ is a new variety of strawberry bred by crossbreeding variety ‘Wadahatsukoi’ and ‘09-52-1’ in 2012. The plant may be used, e.g., for cultivation of fruit for consumption. ‘Tochigi iW1 Go’ is a high-quality, high-yielding variety that produces a fruit having a white pericarp, a large fruit size, a high-yielding characteristic, and adaptability to forcing culture.