摘要:
An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.
摘要:
An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.
摘要:
A range image obtaining system for a track includes a laser slit light source disposed within a plane perpendicular to a tread of a rail and emits laser slit light within the plane; a two-dimensional image imaging device which is disposed to have an angle with respect to the plane perpendicular to the tread of the rail and obtains a light sectioning image generated from the laser slit light; and an image signal processing device for generating a range image based on a distance from the two-dimensional image imaging device based on the light sectioning image.
摘要:
Provided are a mobile communication system and a mobile communication method in which a base station apparatus and a mobile station apparatus can efficiently transmit control information in case of communication is conducted by using a wide frequency band constructed by a plurality of component carriers. The mobile communication system in which the base station apparatus and the mobile station apparatus communicate by using the plurality of component carriers, wherein the base station apparatus allocates resources to the mobile station apparatus for transmitting HARQ control information, and the mobile station apparatus uses the allocated resources to transmit to the base station apparatus the HARQ control information for a physical downlink control channel and/or a physical downlink shared channel which are transmitted on a plurality of downlink component carriers, and also a scheduling request for requesting the allocation of uplink data transmission.
摘要:
The present invention is intended to achieve more accurate and facilitated positioning of a carrier onto a table, in a substrate processing apparatus configured for placing the carrier storing multiple sheets of wafers therein, on the table, by using a carrier arm. Before the carrier is actually carried by the carrier arm, a carrier jig having the same shape as the carrier is held by a holding part provided to the carrier arm. The carrier jig is provided with a camera, such that a central position of a region of an image taken by the camera will be coincident with a central position of an opening formed in the table, if the carrier jig is accurately located in an ideal position above the table. First, the carrier arm is actuated to move the holding part of the carrier arm to a preset lowering start position. Then, the image of the region including the opening is taken by the camera. Thereafter, a distance between the central position of the opening and the central position of the region of the image taken by the camera is calculated, so as to obtain an amount of a positional shift, in a horizontal direction, between the preset lowering start position and the ideal position. Consequently, the lowering start position of the holding part is corrected, by using the so-obtained amount of the positional shift as a correction value. Finally, the carrier is placed on the table, based on the so-corrected lowering start position.
摘要:
The substrate detection apparatus includes: a collimating reflector located on one side of substrates; an illumination unit configured to radiate light in a planar state toward the collimating reflector such that edge portions of the substrates are located in an optical path of the light; an image acquiring unit configured to acquire a passing light image including the edge portions formed on the collimating reflector with the light radiated in the planar state from the illumination unit; and an image processing unit configured to process the passing light image obtained by the image acquiring unit, thereby detecting the conditions of the substrates.
摘要:
A compound of the formula: ##STR1## wherein X is an oxygen atom or a sulfur atom, Y is a hydrogen atom or a fluorine atom, Z is a methylene group or a group of the formula: N--R.sub.5 (in which R.sub.5 is a hydrogen atom, a C.sub.1 -C.sub.6 alkyl group, a C.sub.3 -C.sub.7 alkenyl group, a C.sub.3 -C.sub.7 alkynyl group, a halo(C.sub.2 -C.sub.6)alkyl group or a C.sub.1 -C.sub.6 alkoxycarbonylmethyl group), R.sub.1 is a hydrogen atom, a C.sub.1 -C.sub.6 alkyl group, a C.sub.3 -C.sub.7 alkenyl group, a C.sub.3 -C.sub.7 alkynyl group, a halo(C.sub.2 -C.sub.6)alkyl group, a halo(C.sub.3 -C.sub.7)alkenyl group, a cyano(C.sub.1 -C.sub.6)alkyl group, a C.sub.1 -C.sub.6 alkoxy(C.sub.1 -C.sub.6)alkyl group or a C.sub.1 -C.sub.6 alkoxycarbonylmethyl group, R.sub.2 is a hydrogen atom or a C.sub.1 -C.sub.6 alkyl group; R.sub.3 and R.sub.4 are, the same or different, each is a hydrogen atom or a C.sub.1 -C.sub.6 alkyl group; n is an integer of 0 or 1, which is useful as a herbicide.
摘要:
There is disclosed a 1-phenyl-4 trifluoromethyl-uracil derivative of the general formula: ##STR1## wherein R.sup.1 is hydrogen or methyl, and R.sup.2 is C.sub.1 -C.sub.7 alkyl or C.sub.3 -C.sub.7 cycloalkyl optionally substituted with C.sub.1 -C.sub.3 alkyl. Also disclosed are a herbicidal composition containing this derivative as an active ingredient and a method for exterminating undesired weeds by application of this herbicidal composition.
摘要:
There are disclosed novel arylindazole derivatives of the formula: ##STR1## and agrochemically acceptable salts thereof. Also disclosed are a herbicidal composition including the above arylindazole derivative as an active ingredient and a method for exterminating undesired weeds by the application of a herbicidally effective amount of the above arylindazole derivative to an area where the undesired weeds grow or will grow.
摘要:
A compound of the formula: ##STR1## wherein R is a lower alkyl group, A is a hydrogen atom, a fluorine atom or a chlorine atom, X is an oxygen atom or a sulfur atom, Y is a hydrogen atom, a fluorine atom, a chlorine atom or a bromine atom and Z is a methyl group or an amino group, which is useful as a herbicide.