Matsushita Electric Industrial Co., Ltd.

Mitsubishi Tanabe Pharma Corporation

Hitoshi Kubota

Yoshinori Nakamura

Takanori Higashijima

Manabu Yamane

Norimitsu Hayashi

Kozo Oka

Takashi Anezaki

Daisuke Motomura

Mayumi Takano

Mariko Furukawa

Masakatsu Sugahara

Tohru Nakagawa

Takeshi Asano

Hiroyuki Inoue

Yasuo Yamamoto

Akiyoshi Nakada

Toru Nakagawa

Yoshikazu Mori

Masaki Okamoto

Hiroshi Nakagawa

Toshitsugu Inoue

Yasuo Sakurai

Akira Sakuragi

Tomohiro Maruo

Masuo Matsumoto

Osamu Matsushima

Yoichi Sugitomo

Takashi Mitomi

Takeshi Hamada

Hideki Tsutsumi

Masahide Yoshihara

Toyotoshi Tsujikawa

Takahiro Yokomae

Osamu Sonoyama

Shigeki Igarashi

A novel compound of the formula (I): wherein Ris alkoxycarbonyl or the like, Ris alkyl or the like; Ris hydrogen or the like; Ris alkylene or the like; Ris optionally substituted heterocyclic group; R, R, Rand Rare independently hydrogen; alkyl, alkoxy, or the like; Ris optionally substituted aromatic ring, or the like; or a pharmaceutically acceptable salt thereof, which has an inhibitory activity against cholesteryl ester transfer protein (CETP).

Tetrahydroquinoline derivatives and a process for preparing the same

The present invention is to provide a process for preparing optically active tetrahydroquinoline derivatives which can be used for the treatment and/or prevention of diseases such as arteriosclerotic diseases, dyslipidemia and the like, and a process for preparing synthetic intermediates thereof. Specifically, (2R,4S)-2-ethyl-6-trifluoromethyl-1,2,3,4-tetrahydroquinolin-4-ylamine or a salt thereof is prepared with fewer steps without using an optical resolution, and the optically active tetrahydroquinoline derivatives are obtained from the amine compound.

Process for preparing tetrahydroquinoline derivatives

The present invention relates to a compound of the general formula (1): wherein, Y is a methylene group, and the like; A is an optionally substituted heterocyclic group, and the like; B is an optionally substituted phenyl group, and the like; Ris an optionally substituted alkyl group, and the like; and Ris an optionally substituted amino group, and the like; or a pharmaceutically acceptable derivative thereof, which has an inhibitory activity against cholesteryl ester transfer protein (CETP), thereby being useful for prophylaxis and/or treatment of arteriosclerotic diseases, hyperlipemia or dyslipidemia, and the like.

Trisubstituted amine compound

A novel compound of the formula (I): wherein Ris alkoxycarbonyl or the like, Ris alkyl or the like; Ris hydrogen or the like; Ris alkylene or the like; Ris optionally substituted heterocyclic group; R, R, and Rare independently hydrogen; alkyl, alkoxy, or the like; Ris optionally substituted aromatic ring, or the like; or a pharmaceutically acceptable salt thereof, which has an inhibitory activity against cholesteryl ester transfer protein (CETP).

Tetrahydronaphthyridine derivatives and a process for preparing the same

A waiting time of an automated guided vehicle is substantially eliminated by significantly shortening the communication time of various information, and the transport efficiency of an automated guided vehicle as well as the operating rate of work stations and production lines as a whole are improved, and in addition, the flexibility of an operation control system for the automated guided vehicle is improved. An automated guided vehicle () includes a wireless local area network adapter () for passing information by radio with an operation control unit connected to the local area network or with another automated guided vehicle, a memory part () for storing at least information from the operation control unit or from another automated guided vehicle and information related to the automated guided vehicle itself, and a control part () for controlling the wireless local area network adapter and the memory part.

Automated guided vehicle, operation control system and method for the same, and automotive vehicle

A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system. This method can be used to locate an electric adjustment position of an electronic component and to move the hand of an industrial robot carrying an electric adjustment member to the electronic component for adjusting the electronic component in the electric adjustment position.

Method for measuring three-dimensional position of object to be captured

A component assembling apparatus includes an intermittently rotatable index table for holding a plurality of positioning tools for use in positioning components to be assembled, and an index table driving mechanism for intermittently rotating the index table. The apparatus also includes a component feeding device for feeding one of the components and holding the component at a removal position of the device, a tool container for storing the plurality of assembling tools for assembling the components, and an arm robot for removably securing one of the assembling tools at its end. The arm robot is operable to move the component from the removal position of the component feeding device to a predetermined position of the positioning tool on the table, and to assemble the component on the positioning tool. An arm robot driving mechanism is provided for actuating the arm robot and the assembling tool.

Component assembling apparatus

A method of measuring a three-dimensional position of a workpiece by using a laser measuring unit provided at a hand portion of an industrial robot, the laser measuring unit including an image recognition camera and first and second laser beam sources for emitting lateral and vertical slit beams, respectively, the method comprising the steps of: positioning the laser measuring unit such that the laser measuring unit confronts the workpiece; emitting the lateral and vertical slit beams towards the workpiece from the first and second laser beam sources, respectively; inputting the lateral and vertical slit beams on the workpiece, as first and second slit images, into the image recognition camera, respectively; detecting a first point of a maximum output of the lateral slit beam at an edge of the workpiece in the first slit image and a second point of a maximum output of the vertical slit beam at another edge of the workpiece in the second slit image; and calculating the three-dimensional position of the workpiece based on a first amount of deviation of the first point from a first preset reference point and a second amount of deviation of the second point from a second preset reference point.

Method of measuring three-dimensional postion of workpiece

An apparatus for mounting a flat package type IC on a printed circuit board is disclosed. The apparatus includes: a robot hand for holding the IC; cameras each for taking an image of a part of the IC taking an image of a part of the board, which cameras are fixed to the hand and arranged symmetrically with respect to the rotation axis of the hand; a first processor for obtaining linear deviation and rotational deviation of leads from the images of the IC, and for obtaining linear deviations and rotational deviation of lands from the images of the board; a second processor for obtaining a linear difference between the linear deviations of the IC and board, and for obtaining a rotational difference between the rotational deviations of the IC and board; and a driver for adjusting the position of the IC, by linearly moving the hand by the linear difference, and by rotating the hand by the rotational difference, thereby correctly positioning the leads on the corresponding lands.

Apparatus for mounting a flat package type IC

Disclosed is a method of teaching a moving part to trace a path, the method comprising the steps of determining a curved condition of the teaching path on the basis of a difference between a path length and a straight distance from a first point to a second point on the teaching path and an angle made by the first and second points and a third point, and selectively storing the first, second and third points in accordance with the results of the determination. The first, second and third points are stored as path data in a memory when the difference is greater than a reference length and the angle is smaller than a reference angle. On the other hand, the first and second points are stored therein when the difference is greater than the reference length and the angle is greater than the reference angle.

Method of teaching a path to a moving body

The disclosure is directed to a control arrangement for an industrial robot, which is capable of teaching a continuous path operation, and playing back the operation thereby. According to the present invention, it is so arranged that, in a process for automatically memorizing the operating path information of the industrial robot by direct teaching, data for the operating distance on the taught path is also computed so as to be stored together with positional data, and during play back of the function, interpolation is effected based on the operating distance data, whereby the robot is caused to function at a predetermined speed, according to the path at the teaching, and thus, it becomes possible to effect the playing back operation without being influenced by the operating speed during the teaching.

Control arrangement for an industrial robot

For operating an industrial robot, first, second and third flags are selectively generated as an indication of first, second and third teaching modes, respectively. A position signal representative of the path to be traced by the robot arm is sampled at a higher rate in response to the first flag to produce a first train of samples or at a lower sampling rate in response to the second and third flags to produce a second train of samples. A sample between successive samples of the second train is interpolated when the second flag is generated and combined with the samples of the second train. When the third flag is generated, a sample between successive samples of the second train is approximated. The robot arm is controlled in accordance with the first train of samples in the presence of the first flag or in accordance with the combined samples or approximated samples in the presence of the second and third flags. The first teaching mode is selected when the path to be traced contains many bends and curves and the second and third teaching modes are selected for causing the robot arm to trace a relatively smooth path without being adversely affected by operator's hand vibrations.

Industrial robot having selective teaching modes

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Osaka, Japan

Hitoshi Kubota