There is disclosed a polarization-modulating element for modulating a polarization state of incident light into a predetermined polarization state, the polarization-modulating element being made of an optical material with optical activity and having a circumferentially varying thickness profile.

A sheet holder for holding a sheet of paper and exposing an edge of the sheet, has a press for holding the paper sheet and exposing the edge, and a lever for operating the press. The lever is movable between a released position for placing of the edge of the paper sheet in the press and a holding position for operating the press. There is also an abutment for abutment by the edge of the paper sheet to position the edge relative to the press while the lever is in the released position. The abutment is associated with the lever for moving away from the edge of the paper sheet when the lever moves towards the holding position, thereby exposing the edge of the paper sheet.

Binder apparatus are described. An example binder apparatus includes a housing, a first support rail positioned within the housing and a second support rail positioned within the housing. The binder apparatus also includes first and second closure members coupled to the respective support rails. The closure members are positioned on the respective support rails to enable locking elements of the closure members to interlock when the binder apparatus is in a closed position. The binder apparatus also includes a lever comprising tabs that are received by recesses defined by the support rails. An interaction between the tabs and the support rails enables the support rails to be moved relative to one another and the locking elements to be moved to an unlocked position.

Binder apparatus are described. An example binder apparatus includes a housing and a first carrier rail having a first longitudinal edge and a second longitudinal edge. The first carrier rail defining a notch adjacent the second longitudinal edge. The housing biasing the first carrier rail by engaging the first longitudinal edge. The binder apparatus includes a second carrier rail having a third longitudinal edge and a fourth longitudinal edge. The housing biasing the second carrier rail by engaging the third longitudinal edge. The second longitudinal edge hingably engaging the fourth longitudinal edge, the notch defining an opening having a first edge and a second edge opposite the first edge. The binder includes a slider having a control element extending therefrom. The control element comprising a first control surface and a second control surface. The first control surface to engage the first edge to urge the first and second carrier rails to an open position, the second control surface to engage the second edge to urge the first and second carrier rails to a closed position.

A recyclable ring binder apparatus comprises a ring metal incorporating a set of binder rings that are formed of a pair of ring halves. The ring metal can be firmly fastened to a spine section of a binder hardcover by utilizing a post and a small arched snap clamp with a tap. The tap of the snap clamp can be pressed around a neck of the post utilizing a quick release clipping mechanism. The snap clamp can be accessed with an index finger and slid away from the post to remove the ring metal from the hardcover. The ring metal, the hardcover, the snap clamp and the post can be quickly separated into their perspective categories due to the clipping mechanism. Hence, it retains conformance of all components of the ring binder apparatus for recycling without increasing development and production cost.

Provided is a document reading apparatus capable of suppressing a shock that may occur when a trailing edge of a tabbed sheet passes through a roller pair. In an image reading section, when a document to be read is the tabbed sheet, a timing to start separation of the roller pair in response to detection of a trailing edge of the document is delayed by a time period corresponding to a tab length with respect to the timing to start separation when a document other than the tabbed sheet is conveyed. Thus, it is possible to prevent the shock when the trailing edge of the tabbed sheet passes through the roller pair, and to thereby suppress image reading failure due to the shock.

Methods and apparatus are presented for detecting phase loss and/or excessive ripple in a power converter, in which bandpass filters are used to obtain harmonic voltage amplitudes associated with the power converter DC bus, and phase loss is detected if a ratio of the second harmonic to the sixth harmonic and/or a ratio of the fourth harmonic to the sixth harmonic exceed predetermined threshold values.

A switching power converting apparatus includes a coil unit, a bipolar junction transistor (BJT) controlling power transfer through the coil unit, and a current sensing resistor sensing a current flowing through the BJT so as to produce a sensed voltage thereacross. A switching controller includes a current source supplying a first current, a current generating module generating, based on an input voltage associated with the sensed voltage, a second current, which is proportional to the current flowing through the BJT, a multiplexing module selecting one of the first and second currents as an output current, and a driving module outputting, based on the output current, a driving current, which is proportional to the output current, to the BJT to thereby conduct the BJT.

Methods and apparatuses for a soft-start function with auto-disable are described. Such methods and apparatuses can gradually increase a voltage towards a reference voltage using a ramp generator and a control loop and can disable the ramp generator and the control loop once the voltage has reached the reference voltage.

A thermally assisted magnetic recording medium (1) includes a substrate (101), an underlayer (3) that is formed above the substrate (101), and a magnetic layer (107) that is formed on the underlayer (3) and contains an alloy having an L10 structure as a main component. The underlayer (3) is formed by continuously laminating a first underlayer (104) having a BCC structure with a lattice constant that is 0.302 to 0.332 nm, a second underlayer (105) that has a NaCl structure including C, and a third underlayer (106) that is composed of MgO.

An optical recording medium includes a recording and reading layer that is previously staked or formed afterword and has no concavo-convex pattern for tracking control, and a servo layer in which a concavo-convex pattern or a groove for tracking control is formed. Information can be recorded in the recording and reading layer while tracking is performed using the servo layer.

A digital jukebox (14) allows for playback of a first offering and a second offering. The contents of each offering are individually licensed for public performance at a particular location where the jukebox is found. The jukebox (14) displays advertisements that are selected in response to user interaction with the jukebox or a number of other factors. The jukebox (14) features a screen (18 and 20) that allows user to interact with the jukebox to select offerings, but also to respond to advertising. Jukebox can function in cooperation with a server (12), but in the alternate, can function as an independent and stand-alone device when connection (16) to server (12) is not available.

Once a human operator selects one output channel using a port setting key and SEL key, output port parameters of a plurality of output ports connected with the selected output channel are displayed in a given arrangement on an output channel-port setting popup screen, and the thus-displayed output port parameters are allocated to controls of corresponding channel strips. Such arrangements allow parameter setting operation to be readily performed for each of the output ports.

According to one embodiment, a multilayer optical recording medium including a substrate, a guide layer group that is provided on the substrate and has guide layers in which positional information in a radial direction is recorded, and a recording layer group that is provided on the substrate and has recording layers in which information can be recorded. In the recording layer group, positional information of the recording layers associated with the positional information recorded in the guide layers and control information of the optical device where reflected light volumes of the laser beams on the guide layers and the recording layers become maximum at the positions in the radial direction are recorded at the positions in the radial direction of the recording layers.

An apparatus for compensating for pixel distortion while reproducing hologram data includes an extraction unit, a determination and calculation unit, a table, and a compensation unit. The extraction unit extracts a reproduced data image from a reproduced image frame including the reproduced data image and borders. The determination and calculation unit determines position values of edges of the extracted reproduced data image, and calculates average magnification error values of pixels within line data from position values of start and end point pixels thereof, which are based on the determined position values of the edges. The table stores misalignment compensation values for the pixels within the line data, wherein the misalignment compensation values correspond to predetermined references for average magnification error values. The compensation unit compensates for pixel positions in the extracted reproduced data image using the misalignment compensation values that correspond to the calculated average magnification error values.

A mark having a length nT (n being an integer equal to or greater than 3 and T being a clock period) is formed by modulating irradiation laser power with three values of recording power Pw, erase power Pe, and bias power Pb (Pw>Pe>Pb). Constant strength periods (At) of the recording power Pw are set as AtT, A1T, . . . , and AmT and constant strength periods (B) of the bias power Pb are set as BtT, B1T, . . . , BmT, and CT (C=−1 to 3). The application of laser is divided into pulses in order of AtT, BtT, A1T, B1T, . . . , AmT, BmT, and CT (m=(n−k)/2, k=3 (if n is an odd number), or k=4 (if n is an even number)). (Here, the constant strength period of the recording power Pw for n=3, n=4, n≧5 (odd number), and n≧6 (even number) is set as At3, At4, Atod, and Atev, the constant strength period of the bias power Pb for n=3, n=4, n≧5 (odd number), and n≧6 (even number) is set as Bt3, Bt4, Btod, and Btev, and then, At3+Bt3=Atod+Btod=Am+Bm=2T and At4+Bt4=Atev+Btev=3T).

The invention relates to recording on a medium, and in particular, to laser control during recording data on an optical medium. A laser control method for dynamically adjusting laser power during recording data onto an optical disc comprises: recording normal data onto the optical disc according to an initial laser power; stopping recording when a trigger is generated; reading back the recorded normal data and generating a first recording quality index; recording a test pattern at a test pattern starting point according to a selected laser power; reading back the test pattern and generating a second recording quality index; and determining an adaptive laser power to continually record the normal data according to the first recording quality index and the second recording quality index.

Apparatus is described for measuring and displaying the magnitude of traction forces applied to a patient's lower limbs during surgery, and for measuring the direction and magnitude of counter-traction forces applied to the patient's body by the perineal post located at the patient's groin to oppose traction forces applied to the patient's lower limbs.

A back support apparatus intended for use during emergency transport of a patient suffering an actual or suspected spine injury is disclosed. The device provides a solid support for the arched portion of the spine that molds to the shape of the individual patient's back. The device comprises a bag or other container into which a solid curable material and a liquid activator are introduced, which is then placed beneath the patient's spine on a back board or like support. The device may be deployed quickly without the need for additional straps, belts, or the like, and may be treated as disposable due to its low cost.

To ensure easy and secure placement of a belt for KAATSU muscle training on a target compressed site near the proximal portion of a limb. A belt 100B has a longer first band-shaped member 110 and a shorter second band-shaped member 120 both of which have a band shape and are connected to a ring-shaped joint member 130 at their respective ends. In order to place the belt 100B on the target compressed site, the limb (right leg in this case) on which the belt 100B is expected to be placed is inserted into a loop of the first band-shaped member 110 formed by passing the end of the first band-shaped member 110 through an opening in the joint member 130, and the belt is moved up to the target compressed site. Then, the first band-shaped member 110 and the second band-shaped member 120 are pulled with both hands in the opposite directions. The belt 100B is placed on the target compressed site with the belt 100B being tensioned appropriately.

A system and method for long-term monitoring of cardiac conditions such as arrhythmias is disclosed. The invention includes a pulse generator including means for sensing an arrhythmia. The pulse generator is coupled to at least one subcutaneous electrode or electrode array for providing electrical stimulation such as cardioversion/defibrillation shocks and/or pacing pulses. The electrical stimulation may be provided between multiple subcutaneous electrodes, or between one or more such electrodes and the housing of the pulse generator. In one embodiment, the pulse generator includes one or more electrodes that are isolated from the can. These electrodes may be used to sense cardiac signals.

An orthopedic cast removal tool and method uses an unmodified, typically cordless, rotary impact driver and a embedded wire to cut through an orthopedic cast for removal. By merging it with a slotted spacer block specifically for this cast removal purpose, an ergonomic tool is provided which allays fears of orthopedic patients. When rotating and encountering high resistance of the plaster or fiberglass material of the cast, the cordless rotary impact driver does not bog down; since it seamlessly engages impact action, which offers an order of magnitude or more torque multiplication via short frequent pulses (several per second) to overcome this torque resistance. Thus a high amount of torque with very little reaction force is made available to cut through a cast while affording the technician good control. The cast is cut very rapidly with little dust creation and no jostling of the patient.

A therapeutic compression apparatus having a primary wrap, a foot wrap and a stirrup is provided. The primary wrap encircles a first portion of a leg and applies compression thereto. The foot wrap encircles at least a portion of the foot and applies compression thereto. The foot wrap may be integrated with the stirrup, detachably connected or provided separately. The compression apparatus may be configured such that one or more bladders are provided therein. The compression apparatus may include a pressure gauge and pump for controlling an amount of pressure applied to the treatment site. A bladder assembly with a number of fluid bladder configurations is also provided for use within a compression apparatus. The bladder may be configured to provide a gradient pressure profile to the treatment site when filled.

A polyester resin is a polycondensate obtained by reacting a divalent alcohol, a divalent carboxylic acid, and a mono- or divalent rosin by the use of a zinc compound as a reaction catalyst.

A spinal fixation device includes a housing and a plurality of blades. Each blade includes a body having a central opening configured to rotate on a shaft within the housing. Control openings on opposing sides of the central opening are sized to engage prongs of a rotating tool. At least one cutting extension with a sharp leading edge extends from the body in an orientation about an axis of the shaft. Upon rotation of the blade by the rotating tool about the shaft in a direction in which the at least one cutting extension is oriented, the at least one cutting extension will break an endplate of a vertebra and hook into the vertebra.

An arc melting furnace apparatus is provided which reduces an operation burden on a worker and shortens working hours. An arc melting furnace apparatus 1 includes a housing 2 having formed therein a melting chamber 2a, a hearth 4 provided within the melting chamber 2a and having a recessed portion 4a, and a heating mechanism 10 for heating and melting a metal material supplied into the recessed portion 4 to generate an alloy ingot. The apparatus comprises a turning member 23 rotatably supported on a supporting member 21 standing within the melting chamber 2a, a perimeter edge of the turning member 23 rotating and moving along the inner surface of the recessed portion 4a to lift the alloy ingot generated in the recessed portion 4a above the hearth 4 and turn it over, and a resilient turn-over assisting member 24 provided above an upper end of the recessed portion 4a. Further, the turn-over assisting member 24 is arranged to flex by a predetermined amount when the alloy ingot abuts it, and to return to its original state from the flexed state so that the alloy ingot is urged to drop into the recessed portion 4a.

An in-liquid plasma electrode according to the present invention is an in-liquid plasma electrode for generating plasma in a liquid and has an electrically conductive member having an electric discharge end surface in contact with the liquid, and an electrically insulating member covering an outer periphery of the conductive member at least except the electric discharge end surface. Preferably, d and x satisfy −2d≦x≦2d, where d is a length of a minor axis of the cross section when a conductive end portion of the electrically conductive member having the electric discharge end surface has an approximately circular cross section, or d is a length of a short side of the cross section when the conductive end portion has an approximately rectangular cross section, and x is a distance from a reference plane to a plane containing the electric discharge end surface when the reference plane is an end surface of the electrically insulating member that is approximately parallel with the electric discharge end surface. Owing to this construction, it is possible to provide an in-liquid plasma electrode which can simply generate plasma in a wide variety of liquids including a conductive liquid such as water and alcohol, and furthermore an in-liquid plasma generating apparatus having this electrode, and an in-liquid plasma generating method using this electrode.

An apparatus for dehydrating a liquid sample of biological material has a microwave waveguide that is open to the atmosphere. It has a microwave generator, means for introducing a container of the material into the waveguide, means for evacuating the container, means for rotating the container and means for removing the container from the waveguide. It can include means for moving the container through the waveguide and for sealing it. In a dehydration method, a container of the liquid sample is put into the open waveguide, evacuated, rotated at high speed and microwaved. The container of dehydrated material is then removed from the waveguide. The apparatus and method are particularly suitable for dehydrating vaccines.

An apparatus for casting metals by a nucleated casting technique to create a preform, the apparatus including a mold having a base and a side wall where the base can be moved relative to the side wall to withdraw the preform as it is being created. In various circumstances, portions of a droplet spray created by an atomizing nozzle, i.e., overspray, may accumulate on a top surface of the side wall and prevent or inhibit the preform from being moved relative to the side wall. The atomizing nozzle can be oriented such that the droplet spray passes over the top of the side wall to remelt and remove at least a portion of the overspray that has accumulated thereon. The mold can be rotated such that the overspray formed on a region of or on the entire perimeter of the top surface can pass through the droplet spray and can be removed from the side wall.

A method and apparatus for melting aluminum uses a dense metal salt of Rubidium, Cesium, or Strontium. The salt is melted by a stinger and then superheated by AC applied to electrodes immersed in the salt. Aluminum in contact with the salt melts and floats on the salt. In continuous scrap melting, inflows and outflows of aluminum are comparable and may be shielded by inert gas. The superheated salt may be purified and may be heated in a separate reservoir and pumped to and from another reservoir containing salt and/or metal. The salt may be used to supplement the heating of an existing furnace.

Disclosed herein are a graphite crucible for electromagnetic induction-based silicon melting and an apparatus for silicon melting/refining using the same, which performs a melting operation by a combination of indirect melting and direct melting. The crucible is formed of a graphite material and includes a cylindrical body having an open upper part through which a silicon raw material is charged into the crucible, and an outer wall surrounded by an induction coil, wherein a plurality of slits are vertically formed through the outer wall and an inner wall of the crucible such that an electromagnetic force created by an electric current flowing in the induction coil acts toward an inner center of the crucible to prevent a silicon melt from contacting the inner wall of the crucible.

A graphite crucible for electromagnetic induction-based silicon melting and an apparatus for silicon melting/refining using the same, which performs a melting operation by a combination of indirect melting and direct melting. The crucible is formed of a graphite material and includes a cylindrical body having an open upper part through which a silicon raw material is charged into the crucible, and an outer wall surround by an induction coil, wherein a plurality of first slits are vertically formed through the outer wall and an inner wall of the crucible, and a plurality of second slits are vertically formed from an edge of the disc-shaped bottom of the crucible toward a center of the bottom.

A method for refining and casting metals and metal alloys includes melting and refining a metallic material and then casting the refined molten material by a nucleated casting technique. The refined molten material is provided to the atomizing nozzle of the nucleated casting apparatus through a transfer apparatus adapted to maintain the purity of the molten refined material. An apparatus including a melting and refining apparatus, a transfer apparatus, and a nucleated casting apparatus, in serial fluid communication, also is disclosed.

A variable valve actuating apparatus includes: a first rotary member which includes a rotor fixed to one of the inner cam shaft and the outer cam shaft, and a receiving chamber formed within the first rotary member, and which is arranged to be rotated in an advance angle direction or in a retard angle direction relative to the drive rotary member by a hydraulic pressure selectively supplied to or drained from the advance angle operation chamber and the retard angle operation chamber; and a second rotary member fixed to the other of the inner cam shaft and the outer cam shaft, rotatably received within the receiving chamber of the first rotary member, and arranged to be rotated relative to the first rotary member and the drive rotary member within a predetermined angle range.

A variable valve actuating apparatus includes: a first lock recessed portion; a first lock member; a second lock recessed portion formed in the second rotary member's side; a second lock member; a first lock passage arranged to supply the hydraulic fluid, and thereby to move the first lock member out of the first lock recessed portion; and a second lock passage arranged to supply the hydraulic fluid, and thereby to move the second lock member out of the second lock recessed portion, at least a part of the first lock recessed portion and at least a part of the second lock recessed portion being disposed at a position to be projected in an axial direction when the first lock member and the second lock member are in the lock state.

A rotation transmitting apparatus includes a first shaft on which multiple external teeth are formed so as to be arranged in a circumferential direction, and a second shaft in which multiple internal teeth are formed so as to be arranged in the circumferential direction, the second shaft being fitted to the first shaft so as to be slidable relative to the first shaft in the axial direction and so as to be engageable with the first shaft in a rotational direction through the use of the external teeth and the internal teeth. A protrusion is formed on the tooth flank of one of the external tooth and the internal tooth, the protrusion being projected toward the corresponding tooth flank of the other of the external tooth and the internal tooth. The protrusion is made of a resin that is more elastically deformable than the tooth flank.

A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.

In an electrically-driven valve timing control apparatus employing a housing and a cover member axially opposed to each other, a cylindrical-hollow motor output shaft is installed in the housing, and configured to rotate relative to the housing by electricity-feeding to the electric motor, and also configured such that lubricating oil is supplied into the motor output shaft. A plug is fitted to the inner periphery of an axial opening end of the motor output shaft for suppressing a leakage of lubricating oil from the motor output shaft to the outside. One of two opposing faces of the cover member and the plug is formed with a protruding portion configured to prevent the plug's slipping out of the axial opening end. A part of the inside face of the cover member, opposed to the plug, is formed integral with the protruding portion partially disposed within the axial opening end.

A phase varying apparatus capable of smoothly varying the phase angle of a camshaft relative to a drive rotor by comprising: a drive rotor supported by a camshaft and driven by a crankshaft; a first control rotor integral with the camshaft; a first torquing mechanism for providing the first drive rotor with a torque in one direction, and a reverse rotation mechanism for proving the first control rotor with a torque in the opposite direction, wherein the reverse rotation mechanism comprises a first radius-decreasing guide groove formed in the control rotor, a crank member adapted to rotate about a position offset from the rotational axis of the drive rotor, and a first pin mechanism mounted on the crank member and movable in the radius-decreasing guide groove, and a second operative mechanism for rotating the first control rotor in the opposite rotational direction relative to the drive rotor.

A torsional vibration damping device is configured to have hysteresis torques in the positive and negative sides varied by a simple construction, thereby improving the efficiency of production work and preventing an increase in production cost. Friction materials are respectively provided on surfaces of a hub member and the disc plates, the surfaces facing each other in the radial direction when the hub member is twisted in the positive side with respect to the disc plates. The friction materials are to be brought into friction contact with each other when the hub member is twisted by a specific angle with respect to the disc plates.

A system and methods are provided for controlling a motor of a rod pumping system using previous RPMs of the motor and predicting an RPM of the motor; correcting a power factor of a motor of a rod pumping system; allocating energy consumption and allocating energy generation for a set of wells connected to an electricity meter using an amount of energy generated by each well; and generating an alert if a set of data is beyond a threshold for the set of data.

An audio setting application of a smart phone acquires tuning data from a tuning data setting server, which meets a search condition specified by a user. The audio setting application performs filtering of tuning parameters included in the tuning data. The tuning parameters are parameters of a plurality of acoustic characteristic items of an audio apparatus, and such parameters are excluded if the parameter cannot be expected to achieve an appropriate effect when the parameter is applied to the audio apparatus.

A robotic apparatus for machining tenons on turbine buckets of a steam turbine machine is disclosed. The robotic apparatus includes a machining device having a spindle head. A robotic arm is coupled to the machining device and a base member is coupled to the robotic arm. The base member is mounted independently of the machine element. A vision system is provided for locating the tenon on the turbine bucket. A control system is coupled to the vision system, the machining device and the robotic apparatus. The control system is configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the tenon and the turbine bucket.

Apparatus, and an associated method, for generating a trouble ticket related to an IT incident. When an IT incident occurs, a worklog is formed by a reporter that enters information associated with the incident. Successive inputs, made by appropriate personnel, are made to update the status of the incident. A table-of-contents is formed, associated with the collection of entries of information. And, each entry of information is categorized, to identify the entry by an associated category.

A robot system, including an arm capable of controlling a position and orientation of an arm tip portion, a hand, which is attached to the arm tip portion and which includes a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation from the arm tip portion of the grasped operation target, and a position and orientation measurement apparatus configured to perform relative position and orientation measurement from the arm tip portion of the grasped operation target, wherein measurement of the relative position and orientation from the arm tip portion of the operation target is performed after the operation target is grasped by the grasping mechanism, while the arm tip portion is still moving, and correction of the relative position and orientation from the arm tip portion of the hand is performed based on a result of the position and orientation measurement so that the arm tip portion takes a predetermined relative position and orientation from the arm tip portion.

An energy-reducing method and apparatus for retrofitting a single zone, constant volume HVAC system, with or without an economizer, that provides heating, cooling, and ventilation to occupants within a building space. The present invention includes the introduction of a programmable logic controller and variable frequency drive (VFD) that takes control of the existing fan, heating, cooling, and optional economizer operation. The reduction of the fan speed in the ventilation mode when the 100% operation is not needed saves significant energy of the existing constant volume HVAC system where the fan motor is designed to run 100% of the time.

An information processing apparatus for performing recognition processing by a recognizer for a position and orientation of a work subject to undergo work by a working unit of a robot arm. The information processing apparatus including an obtaining unit adapted to obtain, for each of a plurality of positions and orientations of the work subject, a position and an orientation of the working unit in which the working unit can perform the work, and a restriction unit adapted to restrict a position and an orientation of the work subject used in the recognition processing by the recognizer to a position and an orientation of the work subject corresponding to the position and the orientation of the working unit that have been obtained by the obtaining unit.

A work hanging apparatus includes a hanger line continuously conveying hangers each having a hook, a robot that has a hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line, a controller controlling a movement of the hand to catch the hook of one of the hangers with the hole of the held work at the hanging location, a hole deviation detector that detects a positional deviation of the hole of the work, an attitude deviation detector that detects an attitudinal deviation of the hanger, and a corrector that corrects the movement of the hand according to the positional and attitudinal deviations.

The present disclosure relates to an azoquinone compound represented by formula (1) below. In formula (1), R1 to R4 are identical or different and each represents a hydrogen atom, a C1 to C6 alkyl group or a C6 to C12 aryl group, and Ar represents a C6 to C12 aryl group.

An apparatus and method for transporting radiopharmaceutical substances. The apparatus comprises a radiation shielding pig having an elongated sidewall that extends between two ends and that defines an elongated, interior chamber. The sidewall is thinner than each of the ends. A radiation shield defines at least one cavity. The shield has two open ends and a central area between the open ends that is thicker than each of the two open ends. Also, a method of assembling and disassembling the apparatus includes, placing a syringe filled with a radiopharmaceutical substance into the pig; placing the pig containing the filled syringe in the radiation shield; placing the pig and the shield into an ammunition can for transporting the radioactive substance contained in the syringe.