Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw, and an activating mechanism coupled to the carriage. The activating mechanism includes a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate and thereby actuate the activating mechanism.

Abstract: A system includes: a mobile robot comprising a sensor, the robot further comprising a computer, the robot operating in an environment; a server operably connected to the robot via a communication system, the server configured to manage the robot; a controller operably connected to the robot, the controller operably connected to the server, the controller configured to control the robot; and an object of interest marked with a marker at one or more of an approximate height and an approximate field of view of the sensor, the sensor generating data describing the object of interest, the computer configured to identify one or more of the object of interest and the location using one or more of a shape of the object of interest and an intensity of data describing the object of interest.

Abstract: A control system includes: a controller configured to operate one or more robots in a real space based on an operation program; and circuitry configured to: operate one or more virtual robots based on the operation program in a virtual space, the one or more virtual robots corresponding to the one or more robots respectively; cause the controller to suspend an operation based on the operation program by the one or more robots; simulate a suspended state of the real space after suspension of the operation by the one or more robots, in the virtual space; and resume at least a part of the operation by the one or more virtual robots based on the operation program, in the virtual space in which the suspended state of the real space has been simulated.

Abstract: The present invention provides a factory power management and control method based on edge-cloud coordination, including: 1) forming an industrial field network by a field node, a routing node and a device executing production tasks; 2) parsing production task information data and sending; 3) issuing an STN model in production field to an edge node; 4) sending to the edge node; 5) computing, required to complete the production tasks; 6) computing values of comprehensive ranks; 7) executing, by the edge node, the higher rank, and executing, by the cloud power management center, the lower rank; 8) executing, by the edge node, a demand response algorithm; 9) executing, by the production device, the production tasks based on computing results; and executing, by a power generation station in factory, a power storage station in factory and a power supply station outside factory, corresponding schemes based on the results.

Abstract: This application discloses image coding methods and apparatuses. One method comprises obtaining a plurality of groups of human skeleton data associated with performing an action by a human body, wherein each group of the plurality of groups of human skeleton data comprises joint data associated with a joint for performing the action. Based on joint data comprised in at least a portion of the plurality of groups of human skeleton data, a motion feature corresponding to the plurality of groups of human skeleton data is extracted, and the motion feature is encoded to obtain a motion feature image.

Abstract: An ink replenishment system for a can decorator having a plurality of ink fountains corresponding to a plurality of ink station assemblies includes a robotic arm structured to pick up ink from a selected one of a plurality of ink container and to place the picked up ink into a selected one of the plurality of ink fountains, and a controller structured to control operations of the robotic arm.

Abstract: The present disclosure relates to the field of cleaning robot technology, and in particular to a cleaning robot system. The cleaning robot system includes a base station and a cleaning robot. The base station is independent to the cleaning robot of the cleaning robot system. The base station includes a base station body and a mop member cleaning device arranged on the base station body. The mop member cleaning device is configured to clean a mop member of the cleaning robot. Based on the base station, the cleaning robot system is capable of automatically cleaning the mop member with no need for users to change or clean the mop member frequently, which is helpful to free consumers from house cleaning, thus relieving the burden on the consumers, and also helpful to clean the mop member in time so as to ensure a better effect in next cleaning.

Abstract: An orthopedic implant comprising: (a) a distal femoral component comprising a first condyle bearing surface having a first profile comprising at least three consecutive arcs of curvature; and (b) a proximal tibial component comprising a first condyle bearing surface having a second profile comprising at least three parallel arcs of curvature.

Abstract: A supporting apparatus for programing a robot operation has a display by which an operator sees a movement trajectory corresponding to a movement of the robot and by which the operator is supported to provide a program including moving order and non-moving order. The supporting apparatus for programing has a first operating portion describing a target position of each of the moving orders superimposed with the movement trajectory by using a first code, and a second operating portion describing a number of the non-moving orders operated at the target position by using a second code.

Abstract: A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.

Abstract: Two or more aerial vehicles, such as drones, can each include one or more cameras for capturing surveying or other image data within a field of view. Some of the image data, as well as other data, can be stored and pre-processed on the vehicles, including via onboard edge computing devices. The image and/or other data can be analyzed by a remote system or service, which has additional computing resources, and used to determine the occurrence or existence of an anomaly, such as a seismic event or structure identified in the field of view. The anomaly determination may be based on a disparity, involving a distance between cameras, the cameras' focal length, and a perpendicular distance from a point between cameras to a surface or subsurface point.

Abstract: A system for determining a travel path for an autonomous vehicle (“AV”) to travel to a target while avoiding objects (i.e., obstacles) without the use of an imaging system is provided. An object sense and avoid (“OSA”) system detects objects in an object field that is adjacent to the AV and dynamically generates, as the AV travels, a travel path to the target to avoid the objects. The OSA system repeatedly uses sensors to collect sensor data of any objects in the object field. An object detection system then detects the objects and determines their locations based on triangulating ranges to an object as indicated by different sensors. The path planner system then plans a next travel direction for the AV to avoid the detected objects while seeking to minimize the distance traveled. The OSA system then instructs the AV to travel in the travel direction.

Abstract: A method and system for controlling at least one effector trajectory for at least one effector of a robot for solving a predefined task are proposed. A graph of postures is acquired, and at least one of a contact constraint topology and an object constraint topology are accordingly modified. A set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology are generated. Constraint relaxation is performed on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations. The effector trajectory is generated by applying a trajectory generation algorithm on the generated task description. An inverse kinematics algorithm is performed on the generated effector trajectory for generating a control signal, and the effector is controlled to execute the effector trajectory based on the generated control signal.

Abstract: A mode setting unit sets any one of operation modes in an operation mode group including at least a coaching mode and a learning mode. In the coaching mode, a control unit receives a posture instruction and controls a storage unit to store the posture instruction. In the learning mode, the control unit derives a control mode of a drive mechanism by learning while reflecting, in a posture of the robotic device, the posture instruction received in the coaching mode.

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

Abstract: Provided are an end effect measuring module and an end effect monitoring apparatus using the same. The end effect measuring module is installed at through holes formed between an Equipment Front End Module (EFEM) equipped with an end effector and a semiconductor processing apparatus for processing a wafer and measuring the position according to the movement path of a target passing the through holes. The measurement target is the end effector, and a sensing unit measures whether or not the end effector is shifted and changed in direction. A light receiving unit of the sensing unit outputs an electrical signal that is higher or lower than a reference value in response to shifting of the end effector, or outputs an electrical signal increasing or decreasing along a time axis in response to a directional change of the end effector.

Abstract: An underwater vehicle for performing a variety of linear motions and turning motions with better stability and agility is disclosed. The underwater vehicle includes a main body, a front-drive mechanism, a rear-drive mechanism, and a steering assembly. The main body has a front end and a rear end, which defines a longitudinal axis extending from the front end to the rear end of the main body. The front-drive mechanism is connected to the main body to provide a forward propelling force in a direction parallel to the longitudinal axis. The steering assembly is fixed to the rear end and coupled to the rear-drive mechanism. The steering assembly is configured to rotate the rear-drive mechanism with respect to the longitudinal axis by a body angle for providing a lateral force on the main body.

Abstract: A framework for performing drift analysis with respect to database and enterprise applications. For a product for which drift analysis is to be performed, a set of one or more parts of the product are determined. Current state information for the set of one or more parts is obtained by crawling an environment in which the product is deployed. Current state information obtained for the set of one or more parts is compared with a baseline for the product. The comparison aids to identify one or more differences between the current state information and information in the baseline for the set of one or more parts. The information in the baseline for the set of one or more parts is indicative of a state of the set of one or more parts when the baseline was generated. A report indicative of the one or more differences is generated and output.

Abstract: An autonomous cleaning robot includes a drive system to maneuver the autonomous cleaning robot across a floor surface; a cleaning assembly for cleaning the floor surface; and a sensor system disposed at a forward portion of the autonomous cleaning robot. The sensor system includes a movable element having (i) a first configuration in which the movable element extends beyond a bottom surface of the autonomous cleaning robot by a first amount, and (ii) a second configuration in which the movable element extends beyond the bottom surface of the autonomous cleaning robot by a second amount less than the first amount; a spring mechanically coupled to the movable element, the spring being biased to hold the movable element in the first configuration; and a sensor assembly configured to generate a signal based on the configuration of the movable element.

Abstract: An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.

Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.

Abstract: A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

Abstract: A pouch and an automatic packager for packaging medications into the pouch. One embodiment provides a pouch for containing a plurality of medications. The pouch includes a plurality of discrete compartments, each containing a sub-batch of medications. The pouch also includes serrations at opposite ends of the pouch to separate the pouch from adjacent pouches. The pouch further includes a continuous identifier that spans multiple compartments to give an appearance of one continuous pouch. The plurality of discrete compartments are separated by seals, but not serrations. The continuous identifier includes a border within the opposite ends of the pouch.

Abstract: Systems and methods are described for autonomously recovering a machine comprising one or more modules. An error message from the machine is received and, based on the error message, a first module of the one or more modules to replace is determined, wherein the first module has a first type. An autonomous vehicle is instructed to remove, from the machine, the first module. The autonomous vehicle is instructed to install, at the machine, a second module of the first type.

Abstract: A method and simulation system for controlling at least one effector trajectory for solving a predefined task by at least one virtual effector. The method includes acquiring a sequence of postures to modify at least one of a contact constraint topology and an object constraint topology, generating a set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology, performing constraint relaxation on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations, generating the effector trajectory by applying a trajectory generation algorithm on the generated task description, performing an inverse kinematics algorithm on the generated effector trajectory for generating a control signal, outputting the control signal to an output device, and generating, by the output device, image information displaying the effector trajectory of the virtual effector based on the control signal.

Abstract: An autonomous traveling work vehicle includes a traveling vehicle body, a positioning device mounted on the traveling vehicle body and configured to acquire self-vehicle position information indicative of a self-vehicle position, a work device for effecting a work for a field, a determining device for determining a condition of at least either one of the traveling vehicle body and the work device during traveling of the traveling vehicle body, an abnormality detection section for detecting abnormality in the field based on determination data determined by the determining device, and an abnormality information outputting section for outputting, as abnormality information, the self-position information in the case of detection of abnormality by the abnormality detection section.

Abstract: A control method of a manipulator is provided. The method includes photographing a target using a camera and detected the target using the photographed data. A holding motion for the target is set based on the detected target and a robot is operated to hold the target based on the set holding motion.

Abstract: A surgical system and method involve a robotic system that has a moveable arm that supports an end effector relative to a surgical site to remove material from a bone. A scanner scans the surgical site and detects a vessel on the bone. Controller(s) is/are coupled to the robotic system and the scanner. The controller(s) obtain image data of the bone and receive, from the scanner, positional information of the vessel on the bone. The controller(s) input the positional information of the vessel to the image data of the bone and generate a boundary for the vessel. The controller(s) register the boundary to the bone for navigation and control the robotic system to remove material from the bone with the end effector and prevent interaction between the end effector and the vessel with the boundary.

Abstract: A multicamera image processing system is disclosed. In various embodiments, image data is received from each of a plurality of sensors associated with a workspace, the image data comprising for each sensor in the plurality of sensors one or both of visual image information and depth information. Image data from the plurality of sensors is merged to generate a merged point cloud data. Segmentation is performed based on visual image data from at least a subset of the sensors in the plurality of sensors to generate a segmentation result. One or both of the merged point cloud data and the segmentation result is/are used to generate a merged three dimensional and segmented view of the workspace.

Abstract: A robot includes an input detection portion, a motion detection portion, and a control portion. The input detection portion is configured to detect an input given from an operator to a robot body. The motion detection portion is configured to detect a motion by using the input detection portion, the motion being given by the operator. The control portion is configured to execute a motion instruction associated with the motion detected by the motion detection portion.

Abstract: A robotic cleaner may include a housing, an agitator, and one or more projections. The housing may have a front side, a back side opposite the front side, a left side, and a right side opposite the left side. The right and left sides extend between the front and back sides. The agitator may be configured to rotate about an agitator rotation axis, the agitator rotation axis extending substantially parallel to the front side. The one or more projections may extend from the housing. The one or more projections may include one or more cliff sensors.

Abstract: Disclosed are systems, methods, and devices for generating a visualization of a deep reinforcement learning (DRL) process. State data is received, reflective of states of an environment explored by an DRL agent, each state corresponding to a time step. For each given state, saliency metrics are calculated by processing the state data, each metric measuring saliency of a feature at the time step corresponding to the given state. A graphical visualization is generated, having at least two dimensions in which: each feature of the environment is graphically represented along a first axis; and each time step is represented along a second axis; and a plurality of graphical markers representing corresponding saliency metrics, each graphical marker having a size commensurate with the magnitude of the particular saliency metric represented, and a location along the first and second axes corresponding to the feature and time step for the particular saliency metric.

Abstract: Robots, robot systems, and methods for operating the same based on environment models including haptic data are described. An environment model which includes representations of objects in an environment is accessed, and a robot system is controlled based on the environment model. The environment model incudes haptic data, which provides more effective control of the robot. The environment model is populated based on visual profiles, haptic profiles, and/or other data profiles for objects or features retrieved from respective databases. Identification of objects or features can be based on cross-referencing between visual and haptic profiles, to populate the environment model with data not directly collected by a robot which is populating the model, or data not directly collected from the actual objects or features in the environment.

Abstract: A machine learning apparatus that can determine the state of a tool from a force applied from the tool to a robot while the robot performs a work using the tool. A machine learning apparatus for learning a state of a tool used for a work by a robot includes a learning data acquisition section that acquires, as a learning data set, data of a force applied from the tool to the robot while the robot causes the tool to perform a predetermined operation, and data indicating the state of the tool during the predetermined operation, and a learning section that generates a learning model representing a correlation between the force and the state of the tool, using the learning data set.

Abstract: A robot of one aspect includes a first base configuring a trunk portion, a second base configuring a head region, a connecting mechanism that connects the first base and the second base, and a drive unit that drives the connecting mechanism. The drive unit includes motors disposed on the first base. The connecting mechanism includes linking mechanisms that are disposed in parallel to each other and are driven by the motors respectively. Each linking mechanism includes a drive link fixed to a rotary shaft of the motor and a driven link that is connected to the drive link via a first joint and connected to the second base via a second joint. The first joint is a single axis hinge joint, and the second joint is a universal joint.

Abstract: There is provided a cleaning robot system including a charging station and a cleaning robot. The charging station includes multiple positioning beacons. The cleaning robot includes an image sensor and a processor. The image sensor is used to acquire light generated by the multiple positioning beacons on the charging station and generate an image frame. The processor is electrically connected to the image sensor, and used to calculate a relative position with respect to the charging station according to beacon images of the multiple positioning beacons in the image frame to determine a recharge path accordingly.

Abstract: This robot system includes a sensor system, a robot, and a robot controller, in which the robot controller recognizes a robot coordinate system but does not recognize a sensor coordinate system of the sensor system, and the robot controller creates a conversion matrix for carrying out coordinate conversion in a plane including an X-axis and a Y-axis on sets of position coordinates obtained by the sensor system based on the sets of position coordinates of a plurality of objects or points obtained by the sensor system and sets of position coordinates in an X-axis direction and a Y-axis direction in a robot coordinate system corresponding to the plurality of objects or points.

Abstract: The present disclosure provides method and apparatus for providing a response to a user in a session. At least one message associated with a first object may be received in the session, the session being between the user and an electronic conversational agent. An image representation of the first object may be obtained. Emotion information of the first object may be determined based at least on the image representation. A response may be generated based at least on the at least one message and the emotion information. The response may be provided to the user.

Abstract: An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

Abstract: An autonomous vehicle (e.g., mower) includes two or more wheels supporting a chassis upon a ground surface. A cutting motor powers at least one cutting blade, and a cutting frame supports the cutting motor relative to the chassis. The cutting frame is movable, relative to the chassis, to allow adjustment of a height-of-cut of the cutting blade relative to the ground surface. First and second guide rods are operatively attached to the chassis and are received within corresponding first and second apertures of the cutting frame to guide movement of the cutting frame. Biased bearings associated with the cutting frame may bias associated bearing members against the guide rods.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

Abstract: Systems and methods for visualization of a surgical site are disclosed. An imaging device provides image data of the surgical site. A computing device detects, in the image data, at least one obstruction. The computing device filters the image data to remove the at least one obstruction by being configured to alter pixels related to the at least one obstruction based on at least one of (i) one or more buffered frames and (ii) one or more pixels adjacent to the pixels related to the at least one obstruction. The computing device generates an output from the filtered image data. A display device presents the output for visualization of the surgical site.

Abstract: A cleaning system for cleaning a lamella plate settler includes at least one mechanical cleaning device; a suspension device adapted to suspend the mechanical cleaning device; wherein the suspension device includes a displacement device for lowering and raising the at least one mechanical cleaning device for mechanical cleaning of a lamella plate positioned below the cleaning system. By providing a frame supporting the at least one cleaning device; wheels attached to the frame and adapted to move on rails, the wheels including driving wheels and non-driving wheel, and a sensor, preferably an inductive sensor, adapted to sense the rotational position of the driving wheels, the lamella plate settler can be automatically be cleaned without emptying the basin of water, thus allowing cleaning during operation. A lamella plate settler and a method of cleaning a lamella plate are also provided.

Abstract: A distributed multi-node control system (100) and method, relating to the field of control technology. The distributed multi-node control system (100) comprises: a first control node (11), a second control node (12), a plurality of servo nodes (20) and a plurality of execution devices (30), the first control node (11) and the second control node (12) being respectively communicationally connected to the plurality of servo nodes (20), the servo nodes (20) being electrically connected to the execution devices (30) and configured to control operating states of the corresponding execution devices (30), the first control node (11) being configured to control an operating state of at least one first servo node (21) among the plurality of servo nodes (20), the second control node (12) being configured to control an operating state of at least one second servo node (22) among the plurality of servo nodes (20).

Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.

Abstract: A voice conversation system for questioning a target person to encourage him/her to perform an action recommended for him/her including a response content determination unit that determines, when the questioning is performed, whether there has been a response assumed in advance from the target person in response to the questioning and ends the questioning when the response content determination unit determines that there has been a response assumed in advance from the target person, and an engagement level determination unit that calculates an engagement level, which indicates how enthusiastic the target person is in continuing a conversation, when the response content determination unit determines that there has been no response assumed in advance from the target person, and when the calculated engagement level is a first threshold or higher, questions the target person again, while when the calculated engagement level is lower than the first threshold, ends the questioning.

Abstract: This disclosure relates to a method of controlling a collaborative robot, or “cobot”. According to the disclosed method the “cobot” is controlled so as to make it ready to perform a task in collaboration with the human operator only when the latter is about to move into a work sector to carry out the task collaborating with the robot.

Abstract: An off-line programming apparatus includes a model creation unit that creates three-dimensional models of a robot and a load, a storage unit that stores a dynamic parameter of the load, a graphic creation unit that creates a three-dimensional graphic representing the dynamic parameter based on the dynamic parameter, and a display unit that displays the three-dimensional models of the robot and the load and the three-dimensional graphic. The dynamic parameter includes inertia around three axes that are orthogonal to one another at a centroid of the load. The three-dimensional graphic is a solid defined by dimensions in three directions orthogonal to one another. The graphic creation unit sets a ratio of the dimensions in the three directions of the three-dimensional graphic to a ratio corresponding to a ratio of the inertia around the three axes.