A method for securing an implantable medical device onto a balloon which includes applying a coating, which includes a film-forming polymer and at least one solvent, to the outer surface of the balloon. The solvents can include alcohol, water, ether and combinations thereof. The film-forming polymer can include a zwitterionic polymer, such as, for example a phosphorylcholine polymer. The coating can be applied to the entire balloon surface or a portion of the surface. The implantable medical device is then positioned on the outer surface of the balloon and secured. The film-forming polymer is then allowed to cure in order to define an adhesive layer between an inner surface of the implantable medical device and the outer surface of the balloon. This method prevents or reduces the leaching or redistribution of any therapeutic agents dispersed within or on the surface of the implantable medical device.

A device and method for delivering a vascular device to a target site is provided that maintains a proximal portion of the vascular device within a tubular sleeve by positioning a stop of an inner member at a distal opening of the tubular sleeve to block the opening. Once the stop has been moved distally via movement of the inner member to clear the opening, a band of increased thickness on the inner member can urge the proximal portion of the vascular device out of the tubular sleeve to deploy the vascular device. The vascular device may be recaptured within a delivery sheath prior to the full deployment of the proximal portion of the vascular device from the tubular sleeve by re-positioning the stop at the distal opening to hold the vascular device within the tubular sleeve as the delivery device is retracted with respect to the delivery sheath.

An implantable device having a power source is provided. The power source uses reverse electrowetting technology to generate a charge to power the implantable device. The power source includes a flexible, non-conductive substrate having a first side and a second side opposite the first side with a channel between the first and second sides. Electrodes are arranged about the channel in a predefined pattern. A liquid is contained in the channel. The liquid includes a dielectric liquid and a conductive liquid that do not mix. The electric change is generated by moving the liquid back and forth across the electrodes. The force to pump or move the liquid is provided by organic means, such as, for example, the change in blood pressure between systolic and diastolic, the expansion and contraction of an organ, or the movement of a muscle.

Devices and methods for implantation at a native mitral valve. One embodiment of the device includes a valve support having a first region and a second region, and anchoring member having a longitudinal dimension with a first portion configured to contact tissue at the non-circular annulus, a second portion configured to be attached to the valve support, and a lateral portion transverse to the longitudinal dimension between the first portion and the second portion. The anchoring member and the valve support are configured to move from a low-profile configuration to an expanded configuration in which the first portion of the anchoring member at least partially adapts to the non-circular annulus of the native mitral valve and a shape of the first region of the valve support is at least partially independent of a shape of the first portion of the anchoring member.

A sacro-iliac implant includes a body extending from a first portion having an outer surface configured for fixation with a sacrum to a second portion having an outer surface being spaced apart and non-continuous with the outer surface of the first portion. A sleeve is disposed about the body and configured for implantation within at least an ilium. The sleeve extends from a first portion to a second portion having an inner surface and a flange disposed to engage an outer non-articular surface of the ilium. The inner surface of the second portion of the sleeve is engageable with the outer surface of the second portion of the body to cause axial translation of the body relative to the sleeve such that naturally separated articular surfaces of the sacrum and ilium are drawn into fixation to immobilize the SI joint. Methods of use are disclosed.

The invention encompasses devices and methods for treating one or more damaged, diseased, or traumatized intervertebral discs to reduce or eliminate associated back pain. Specifically, the invention encompasses intervertebral nucleus and annulus implants that are resistant to migration in and/or expulsion from an intervertebral disc space. The invention further encompasses kits including the implantable devices of the invention and associated delivery tools to treat annular and nuclear tissue.

The present invention provides an expandable fusion device capable of being installed inside an intervertebral disc space to maintain normal disc spacing and restore spinal stability, thereby facilitating an intervertebral fusion. In one embodiment, the fusion device includes a body portion, a first endplate, and a second endplate, the first and second endplates capable of being moved in a direction away from the body portion into an expanded configuration or capable of being moved towards the body portion into an unexpanded configuration. The fusion device is capable of being deployed and installed in both configurations.

The present invention relates to an image-based, patient-specific medical spinal surgery technique and to a spinal prosthesis used in the surgery, and particularly, to an image-based, patient-specific medical spinal surgery technique and to a spinal prosthesis which are intended to solve a problem of damage to a spine caused by installing a spinal prosthesis used in spinal surgery, by introducing an image of a patient to manufacture an insertable spinal prosthesis that is customized for a shape of a spine of an individual patient in a polymer-based material.

Implants, tools and methods for performing unilateral posterior lumbar interbody fusion are provided. An interbody implant includes a body having a top and bottom surface extending along a length thereof; and first and second side surfaces extending between the top and bottom surfaces on opposite sides of the body. The height of the first side surface is greater than the height of the second side surface.

An implantable medical device for implantation in a hip joint of a human patient is provided. The medical device comprises: at least one artificial hip joint surface adapted to replace at least the surface of at least one of the caput femur and acetabulum. At least one artificial hip joint surface comprises: a positioning hole with at least one opening in said at least one artificial hip joint surface. The hole is adapted to be placed and dimensioned such that the medical device is adapted to be fitted using a positioning shaft and at least partly surround the shaft, for positioning the at least one artificial hip joint surface in a desired position in the hip joint. The hole is adapted to be fitted using the positioning shaft, when the shaft is stabilized and placed in at least one of the femoral bone and the pelvic bone for positioning said medical device inside the hip joint.

The present invention comprises devices, systems, and methods for elongating bone using an extension implant having a first end and a second end. The first end of the extension implant is inserted into an opening in the live bone and the second end of the extension implant is combined with an enlarged implant. A plurality of channels extend through the components to serve as conduits for delivering fluids and physiological signals which induce bone formation. Some embodiments include a subcutaneous cage assembly for helping to support the implant as the bone heals around it.

The present invention provides a method of fixating a mesh implant to a tissue of a subject comprising attaching said mesh implant to said tissue, covering said mesh implant by an antiadhesive barrier, wherein said antiadhesive barrier is attached to said mesh implant by a biocompatible adhesive.

A method of making a stent, including preparing a solution containing a composition, the composition comprising a biodegradable polymer and a vascular intimal hyperplasia inhibitor of a kind, including argatroban, which does not inhibit proliferation of endothelial cells, the weight compositional ratio of the polymer to the vascular intimal hyperplasia inhibitor being within the range of 8:2 to 3:7, the composition dissolved in a solvent selected from the group consisting of a mixture of a lower alkyl ketone and methanol, a mixture of a lower alkyl ester and methanol or a mixture of a lower halogenated hydrocarbon and methanol; coating at least an outer surface of a stent body of a cylindrical configuration having outer and inner surfaces with a diamond-like thin film coated on the surfaces; and after the coating, removing the solvent to complete a first coated layer.

The present invention relates to a rapid, sensitive, simple, and cost-effective spectrophotometric method of detecting and quantifying mycolic acid in a mycolic acid-fuschin dye complex with absorbance maxima ranging between 490-500 nm in the presence of various test compounds, for screening mycolic acid biosynthesis inhibitors useful as anti-microbial agents and a diagnostic kit thereof comprising basic fuschin dye in the concentration ranging between 0.1-1.0 gm/100 ml, phenol and 95% ethanol in the ratio ranging between 1:4 to 2:1 (v/v), and phenol and distilled water in the ratio ranging between 1:14 to 1:25.

A method for the elimination of carbon dioxide from waste gases includes the following steps. First, waste gases, which include carbon dioxide, are provided from a source for waste gases. Next, the waste gases are contacted with an absorbent composition that includes perfluorodecalin solution. The waste gases, especially the carbon dioxide, are then absorbed by the absorbent composition. The absorbent composition thereby absorbs the waste gases to eliminate the carbon dioxide.

Esters of 4,5-disubstituted-oxy-2-methyl-3,6-dioxo-cyclohexa-1,4-dienyl alkyl acids were prepared chemically and/or enzymatically. Depending upon the ester, improved melanocyte cytotoxicity was achieved. Improved cytotoxicity characteristics are consistent with ester analogs being more physiologically compatible and less irritating to skin than their corresponding acids.

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.

The invention relates to an electronic circuit and a method for feeding power to at least one electrode of an alternating-current electric-arc furnace, particularly for melting metal. Known circuits of this type typically comprise a series connection with a transformer for providing a supply voltage for the electric-arc furnace from a power grid (1) and a AC power controller (8) connected between the transformer (6) and the electrode (11) for regulating the current through the electrode (11). According to the invention, a further development for such electronic circuits is proposed, which development has a simple design, is inexpensive and prevents overload of the AC power controller (8) even in operating modes of the electric-arc furnaces at high electrode currents. This further development provides to bypass the AC power controller with a bypass switch (9) that is opened or closed with the help of a controller as a function of the amount of current flowing through the electrode (11).

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.

Metallurgical reactors having cooling capability and electrode feed capability are disclosed. The reactors may include a shell having a sidewall and a bottom, where the shell is adapted to contain a molten material. The reactors may include at least one consumable electrode protruding through an opening of the shell and into the molten material. The reactors may include a current contact clamp configured to conduct operating current to the electrode, where the current clamp is in contact with the electrode, and where the current clamp comprises at least one internal channel, wherein the internal channel is configured to circulate a cooling medium. The reactors may include an electric isolation ring disposed between the electrode and the opening of the shell, wherein the electric isolation ring is configured to sealingly engage the electrode and the opening so as to restrict flow of the molten material out of the shell.

A method for treating spheroidal graphite iron includes the step: pouring molten spheroidal graphite iron into a pouring electrical furnace (1); covering the molten spheroidal graphite iron (5) with alkali slag (6) which is melted at high temperature and rich in alkali earth metal ion, rare earth metal ion, or mixture of them; connecting the molten spheroidal graphite iron (5) with the negative pole of the direct current source by one pole (7); connecting the alkali slag (6) with the positive pole of the direct current source by another pole (4), treating the molten spheroidal graphite iron (5) with the alkali slag (6) which is used as electrolyte. The method can prevent the spheroidized fading velocity of the spheroidal graphite iron. The pouring electrical furnace can be used for treating the molten spheroidal graphite iron.

A roof system for an electric arc furnace includes a skew removably attached to the electric arc furnace, a lining of refractory material affixed to the skew, and a delta composed of a refractory material. The delta has at least one aperture capable of receiving an electrode. The delta fits onto and is supported by the refractory lining that is affixed to the skew.

A resonant power supply (900) for use with high inductive loads includes an input rectifier (903) and a switching inverter formed using a plurality of parallel connected half bridge networks for switching the voltage provided from the input rectifier (903). A transformer (927) is used whose primary is connected to the switching inverter and whose secondary is connected to load such as a crucible (931). A capacitor (929) is used in series with the primary of the transformer (927) for resonating the inductance in the secondary circuit at the frequency of the switching inverter to provide maximum power transfer to the crucible (931).

A device is described for generating a control signal for controlling a passenger protection arrangement of a motor vehicle, having a first acceleration sensor for generating a first acceleration signal, having a second acceleration sensor for generating a second acceleration signal, having a first structure-borne noise sensor for generating a first structure-borne noise signal, having a second structure-borne noise sensor for generating a second structure-borne noise signal, and having an evaluation circuit, the evaluation circuit (being configured for generating a combination signal from the first structure-borne noise signal and the second structure-borne noise signal, the evaluation circuit being configured for generating the control signal as a function of the first acceleration signal, the second acceleration signal and the combination signal.

Method of manufacturing a fused silica crucible, including manufacturing a plurality of carbon electrodes for melting a vitreous silica object to be melted by arc discharge by rubbing the surface of a carbon electrode of the electrodes with a vitreous silica of the same type as the vitreous silica object to be melted, by at least one of: inserting a front end of the carbon electrode into a storage tank storing powdered vitreous silica, by at least one of rotating and reciprocating in an axial direction the storage tank and the carbon electrode relative to each other; rubbing the surface of the carbon electrode by ejecting powdered vitreous silica from a nozzle onto the surface of the electrode; rubbing the surface of the electrode with a vitreous silica grinder; and rubbing the surface of the electrode against a rotating surface of a portion of a fused vitreous silica crucible.

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 is provided to control the feed of a metal charge into an electric arc furnace having at least one electrode to generate an electric arc to melt metals. The method includes: a step of defining a “cover index CI” of the electric arc by the slag present above the liquid metal bath, in order to calculate which of the harmonics present in an electric feed quantity of the furnace are taken into consideration; a step of measuring the actual cover index CI value during a functioning cycle of the furnace; and a step of adjusting the speed of feed of the metal charge into the furnace based on the measured value of the cover index CI.

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.

Structure of a cross universal joint is achieved in which the fact that an excessive torque was applied to a universal joint due to a collision accident or mishandling can be easily determined afterwards. Protrusions 20, which are straight lines as seen from the outside surface sides of linking arm sections 15c of a yoke 12c, are formed on the outside surfaces of the linking arm sections 15c. When an excessive torque acts and the linking arm sections 15c are plastically deformed, the protrusions 20 change from a straight line to a non-straight line. From this change it is possible to easily confirm that an excessive torque has been applied to a cross universal joint that includes this yoke 12c. Moreover, when the space between the inside surfaces of the linking arm sections 15c is taken to be D, and the length in the axial direction of the linking arm sections 15c is taken to be L, the dimensions of the parts of the yoke 12c are regulated so that the relation 3

A flexible shaft coupling demonstrates a high performance in transmitting torque and accommodating positional deviations, and is yet highly durable. A first elastomer member (82) having a relatively high rubber hardness is circumferentially interposed between a first claw (32) of a first shaft coupling member (20) and a second claw (62) of a second shaft coupling member (50), and a second elastomer member (84, 86) having a lower rubber hardness than the first elastomer member is interposed between a surface portion (end surface) (30) of the first shaft coupling member (20) and the second claw (62) and/or between a surface portion (end surface) (60) of the second shaft coupling member (50) and the first claw (32).

A phase control apparatus in a variable cam timing (VCT) system of an engine is described herein. The phase control apparatus includes a locking pin coupled to a vane, the locking pin extending into a locking pin recess in a cover plate in a locked configuration, the locking pin and locking pin recess having a backlash and a housing at least partially enclosing the vane and spaced away from the vane forming a gap in the locked configuration.

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 navigation device comprising an input means for inputting two or more audio pieces into the navigation device; a spatialization means for allocating a position in the form of a unique spatial co-ordinate to each audio piece and arranging the audio pieces in a multi-dimensional arrangement; a generating means for generating a binaural audio output for each audio piece, wherein the audio output simulates sounds that would be made by one or more physical sources located at the given position of each audio piece; an output means for simultaneously outputting multiple audio pieces as binaural audio output to a user; a navigation means for enabling a user to navigate around the audio outputs in the multi-dimensional arrangement; a selection means for allowing a user to select a single audio output.

Shed formation on a weaving machine (2), which is driven by a main motor (3), with a shedding device (4), which is driven by a shedding motor (5), wherein in each motion cycle (N) of the weaving machine (2), a loom shed (7) formed by warp threads (8) of the weaving machine (2) is opened and closed dependent on a weave pattern, and wherein the synchronicity of the two motors (3, 5) is controlled by signals (10) of a control device (9). During a partial number (Tn1, Tn2) of motion cycles (N), the synchronicity of the two motors (3, 5) is changed in such a manner so that plural shed closure angles (FSW) at which the loom shed (7) in the respective motion cycles (N) is closed, form an increasing or decreasing sequence.

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.

Embodiments of the present invention provide systems and methods for assisting sort operators in identifying the appropriate location to sort an item. In accordance with one aspect of the invention, a system for identifying a particular bin from a plurality of bins for sorting a package is provided. The system includes a plurality of bins configured to receive sorted packages; an optical reader positioned to capture destination indicia associated with the package; a keypad comprising a plurality of keys, where in at least some of the keys are associated with individual bins of the plurality of bins and at least some of the keys include lights; and a control system. The control system is configured to: receive data from the optical reader relating to the destination indicia; identify a particular bin within the plurality of bins associated with the received data; and trigger illumination of one or more lights on the keypad.

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.

Provided are a home network system and a method for an autonomous mobile robot to travel along a shortest travel route. The home network system capable of home automation includes a plurality of beacons for sensing a user located in a cell coverage area and for transmitting resulting sensing information of the user; an autonomous mobile robot for executing travel to reach the user based on provided travel route information; and a home server for calculating a travel route along which the autonomous mobile robot can easily reach the user based on the sensing information of the user transmitted from the beacons, and for providing the travel route to the autonomous mobile robot. Therefore, the autonomous mobile robot may reach the user by the shortest travel route and thus reducing energy loss.

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.

A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.

In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm.

There is provided a method for actuating a first key of a keyboard with a tracer finger of a robot. An exemplary method comprises acquiring parameters of the keyboard and determining a position of the first key as a function of the acquired parameters using a model of the keyboard. The exemplary method also comprises guiding the tracer finger of the robot to the determined position of the first key. The exemplary method additionally comprises actuating the first key with the tracer finger of the robot.

A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.

A verification and control method for at least one water purification system is described, which includes a step of supplying, by a server embedded with the water purification system, an editing interface comprising a zone for selecting items of exploitation information representing physical quantities associated with the water purification system, a step of selecting, via the first remote browser, at least one item of exploitation information to constitute at least one exploitation interface page, a step of sending a request to access the exploitation page, by a second remote browser, to the server, a step of collecting the value of each physical quantity represented by a selected item of information to constitute the page, and a step of supplying, by the server, the page comprising each collected value.

A network system may be provided that includes an electronic product, a recognition target, a recognition device, a setting program and a display unit. The electronic product may operate to manage or process a target. The recognition target may include information relating to the target. The recognition device may recognize information listed on the recognition target. The setting program may convert information recognized by the recognition device into setting information. The display unit may display the setting information converted by the setting program.

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 automatic-adjustable stacker for controlling the movement of a media, such as cardboard, through a media handling system. The stacker includes a media receiver positioned proximate a feed of the media that receives a leading edge of the media and a controller that causes the media receiver to move from a first position for receiving the media, to a second position for depositing of the media at a desired location. The media receiver is configured to prevent the media from coming into contact with other media already located at the desired location until the media has arrived at the desired location, while creating a concave-like shape to the media while conveying it.

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.

Complexes of heterocyclic radionuclides are prepared based upon ligands having substituted pyridyl and imidazolyl groups. The ligands are bifunctional, having amino acid residues that may act as a linker to a bioactive molecu le, and a tridentate chelator that may complex the radionuclide. The bioactive molecule may be a peptide or somatostatin.