摘要:
Benzofuro[3,2-c]quinoline compounds of the general formula: ##STR1## wherein (1) each of R.sup.1 and R.sup.2 is the same, and represent a group of the formula of --OR.sup.3 in which R.sup.3 represents a carbamoyl group, an N-mono-alkylcarbamoyl group, an N,N-dialkylcarbamoyl group, an alkylsulfonyl group, a formyl group or an aliphatic acyl group which may have an alkoxycarbonyl group as a substituent; m represents zero, 1 or 2; n represents zero or 1; with the proviso that n is not zero when m is zero,(2) each of R.sup.1 and R.sup.2 is different, and represent a hydroxy group or an N,N-di-alkylcarbamoyloxy group; m represents 1 or 2; n represents 1, possess a strong inhibitory action on bone resorption and a stimulatory effect on ossification. Some benzofuro[3,2-c]quinoline compounds of the above general formula also possess a stimulatory effect on longitudinal bone growth, and thus are useful for the prevention or treatment of osteoporosis.
摘要:
A lens cleaner (10) cleans a pickup lens (38) within an optical disk device (12). The lens cleaner (10) includes a disk portion (16) and a grip (20) provided at the rear end thereof. A user inserts the lens cleaner (10) into a slot (14) of the optical disk device (12) with the grip (20) holding with a hand (18) to thereby load the lens cleaner (10) into the interior of the optical disk device 12. When the user turns the lens cleaner (10) right and left with the grip (20) holding, a lens surface is cleaned by a cleaning member upheaving on a bottom surface of the disk portion (16).
摘要:
A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.
摘要:
Leukotriene B.sub.4 antagonists of the formula: ##STR1## wherein each symbol is as defined in the specification, processes for producing them, and pharmaceutical compositions containing them. The compounds of the present invention are very useful as the drugs for the treatment of allergic and inflammatory diseases.
摘要:
A uranyl ion selective electrode having a responsive membrane, an inner reference electrode, and a uranyl ion inner solution is disclosed, in which the responsive membrane is obtained by treating a membrane material with an ion-exchanger comprising at least one uranyl ion complex formed between a uranyl ion and a neutral phosphoric ester or a neutral phosphorous ester as a complexing agent, a diluent excellent in compatibility with the ion-exchanger, and a solvent mediator having affinity for the membrane material. The electrode is excellent in concentration responsiveness, reproducibility, accuracy, and durability and is particularly suitable for use in uranyl ion analysis in the atomic energy industry.
摘要:
A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit. The work success/failure judging unit judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.
摘要:
An operating apparatus for game machine includes a depressing member, and a main body of the depressing member is provided with three engaging protrusions and two depressing protrusions that downwardly protrude. For example, the two depressing protrusions are provided between the three engaging protrusions. In response to a beating operation by a player, the right side of the depressing member is depressed, and then, an engaging portion of the engaging protrusion at the left side is engaged with a rear surface of an upper surface panel. Accordingly, the depressing member is sure to be depressed at the right side without being upwardly actuated, and a rubber switch depressed by the depressing protrusion is brought into contact with a board. At this time, a contact provided on the board and a contact provided on the rubber switch are brought into contact with each other, and an operation signal according to the beating operation is output to the game machine.
摘要:
A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a position/speed state feedback loop, has a mechanism for measuring the angle of a joint of a robot, a mechanism for storing the initial posture of a tool attached to the end of a hand of the robot, a mechanism for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and a mechanism for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.