A microorganism capable of fixing a carbon oxide and performing fermentation and its preparation method and use are provided, wherein the preparation method comprises:                (a) providing a first parental strain which is able to fix a carbon oxide;        (b) providing a second parental strain which is able to perform fermentation;        (c) preparing a first protoplast and a second protoplast from the first parental strain and the second parental strain, respectively;        (d) subjecting the first protoplast and the second protoplast to fuse to provide a fusant; and        (e) incubating and selecting the fusant to obtain a target strain.

Technical Field
The present invention relates to a microorganism capable of fixing a carbon oxide and performing fermentation and the preparation method and use of the same, especially relates to the use of the microorganism in the production of an organic compound (e.g., an organic acid, and an alcohol). One embodiment of the microorganism is Clostridium tyrobutyricum ITRI02001, deposited at German Collection of Microorganisms and Cell Cultures (Deutsche Sammlung von Mikroorganismen and Zellkulturen GmbH, DSMZ) under the accession number DSM 32077.
Descriptions of the Related Art
As of the early 20th century, microorganisms such as bacteria, yeasts and fungi have been being wildly used in industry to perform fermentation, which converts a biomass material into an organic compound having more economic benefits, such as an organic acid, or an alcohol. Among such microorganism fermentations for the production of an organic compound, the acetone-butanol-ethanol (ABE) pathway is used most wildly. In the ABE pathway of microorganisms, saccharide-containing material (e.g., corns, potatoes, syrups, etc.) can be converted into pyruvate, and the pyruvate can be further converted into acetyl-CoA to produce an organic compound having more economic benefits, such as butyric acid, butanol, and ethanol.
However, the aforementioned process of converting the pyruvate into acetyl-CoA will be accompanied with the release of a carbon oxide (e.g., carbon dioxide) and such release leads to unnecessary carbon loss. It has been known that, if a wild type strain in nature is used in the ABE fermentation process, the conversion from feedstock to product has a highest carbon conversion rate of only about 67%, which leads to a poor yield of organic compound and makes unnecessary cost and resource waste. Therefore, how to increase the carbon conversion rate of the conversion from feedstock to product is a task in this field desired to be solved. One way of solving this task is to further conduct the strain breeding and improvement of the microorganisms to be used in the fermentation process to break the limitation of the heredity characteristics of the microorganisms, and to rebuild the metabolic pathway, inhibit the metabolic shunt or enhance the metabolic flux of the synthetic direction toward the main product, thus to increase the carbon conversion rate of the conversion from feedstock to product.
The present invention is the result of research and development for the above demand. The inventor of the present invention accomplished a method for preparing a microorganism capable of fixing a carbon oxide and performing fermentation. In addition to performing fermentation to produce an organic compound, the microorganism obtained from the method can fix the carbon oxide releasing from the fermentation, recapture the carbon oxide into the fermentation process again. Therefore, the carbon resource would be used more effectively and the unnecessary carbon loss would be reduced, even the requirement of approximately zero carbon loss could be reached.

Microorganisms capable of fixing carbon oxides and performing fermentation and the preparation method and use of the same

Abstract: The target strain is useful in the production of an organic compound such as an organic acid and an alcohol, and one embodiment of the target strain is Clostridium tyrobutyricum ITRI02001, deposited at German Collection of Microorganisms and Cell Cultures (Deutsche Sammlung von Mikroorganismen and Zellkulturen GmbH, DSMZ) under the accession number DSM 32077.


A computer readable storage medium with computer readable program code. The computer readable program code may be configured to index a plurality of documents into a document library stored in a database. The computer readable program code may be configured to receive a query document and to compare the query document with each indexed document to generate a score for each indexed document. The score represents a measure of similarity between the query document and each indexed document. The computer readable program code may be configured to display a query result based on the score for each indexed document.

The present disclosure relates to shared content, more specifically, to identifying and analyzing documents that may include some similar content.
People create documents. Some documents created may be derived from other documents. Some of these documents may share similar content or portions of identical content. There may be many versions of documents sharing content. Documents may be stored in databases, network servers, or personal computers. Documents sharing content may be stored in multiple databases, servers, or computers. In some cases, documents may proliferate beyond the database, server, or computer in which the documents were originally stored. In some cases, documents which proliferate may be controlled, proprietary, or otherwise contain confidential information.

System for identifying and investigating shared and derived content


A semiconductor element bonding body including: a substrate, in which a concave portion is formed; and a semiconductor element placed in the concave portion to be mounted to the substrate. A portion of the substrate in which the concave portion is formed is made of Cu. The concave portion has a perimeter portion in which a level difference is formed, and the level difference has a height d of 20 μm or more and less than 50 μm. The concave portion has a bottom surface having a flatness degree of λ/8.7 μm or more and λ/1.2 μm or less when a wavelength λ of a laser is 632.8 nm. A metal film is formed on the semiconductor element, and the bottom surface of the concave portion and the metal film are bonded directly to each other.

There has been known a method of manufacturing a semiconductor device in which a semiconductor chip is bonded to a substrate through use of, as a bonding material, metal paste containing metal particles and an organic solvent. In this method of manufacturing a semiconductor device of the related art, after the semiconductor chip is bonded to the substrate via the metal paste, the organic solvent is evaporated from the metal paste to turn the metal paste into an aggregate, the metal particles in the aggregate are reduced, and the semiconductor chip is then pressed to the substrate until the aggregate is crushed, thereby bonding the semiconductor chip to the substrate (see Patent Literature 1, for example).
There has also been known a semiconductor device in which a semiconductor element is bonded to a substrate via a bonding layer including a metal solid dispersion layer and a metal layer (see Patent Literature 2, for example).
Another semiconductor device that has been known uses an adhesive to bond a semiconductor element to a gold plating layer formed on a substrate (see Patent Literature 3, for example).

Semiconductor element bonding body, semiconductor device, and method of manufacturing semiconductor element bonding body


An electrolytic cell for the production of metal by electrolytic reduction of a metal bearing material dissolved in a molten salt bath, the cell including a shell, and a lining on the interior of the shell, the lining including a bottom cathode lining and a side wall lining including a plurality of fluid ducts positioned against the interior surface of the shell for conducting fluid there through, the fluid ducts extending along the sides of the shell, and communicating with pump means to flow fluid through the fluid ducts.

Electrolytic cells for the production of aluminium comprise an electrolytic tank having a cathode and an anode generally made up of a plurality of prebaked carbon blocks. Aluminium oxide is supplied to a cryolite bath in which the aluminium oxide is dissolved. During the electrolytic processes, aluminium is produced at the cathode and forms a molten aluminium layer on the bottom of the electrolytic tank with the cryolite bath floating on the top of the aluminium layer. Oxygen is produced at the anodes causing their consumption by producing carbon monoxide and carbon dioxide gas. The operating temperature of the cryolite bath is normally in the range of 930° C. to about 970° C.
The electrolytic tank consists of an outer steel shell having carbon cathode blocks sitting on top of a layer of insulation and refractory material along the bottom of the tank. These carbon cathode blocks are connected to electrical bus bars by way of collector bars and aluminium flexibles. While the precise structure of the side walls varies, a lining comprising a combination of carbon blocks and refractory material is provided against the steel shell.
During operation of the electrolytic cell, a crust or ledge of frozen bath forms on the side walls of the electrolytic tank. While the thickness of this layer may vary during operation of the cell, the formation of this crust is critical to the operation of the cell. If the crust becomes too thick, it will affect the operation of the cell as the crust will grow on the cathode and disturb the cathodic current distribution affecting the magnetic field. On the other hand, if the frozen bath layer becomes too thin or is absent in some places, the electrolytic bath will attack the side wall lining of the electrolytic tank, ultimately resulting in failure of the side wall lining. If the attack on the side wall lining gets to the extent of the bath attacking the steel shell side walls, then the electrolytic cell has to be shut down due to the risk of metal and bath running out of the cell.
Thus controlled ledge formation is essential for good pot operation and long lifetime of the refractory lining within the cell. Furthermore, controlling the thermodynamic operation of the cell and in particular, the flow of heat from the bath through the side wall lining is essential for controlled ledge formation within the cell.
In recent technology developments, heat is removed from the cell through the steel shell of the electrolytic tank using passive heat transfer devices such as radiating fins in an attempt to increase the surface area available for heat transfer from the side walls of the electrolytic tank. The heat needing to be removed from the electrolytic cell is dependent upon the amount of current passing through the cell and the cell voltage. If there is an increase in the current or voltage, then the heat which needs to be extracted through the side wall to maintain an appropriate thickness of ledge formed on the inner wall of the refractory material will increase and can often vary beyond the design capabilities of the passive cooling elements on the side of the electrolytic cell.
Accordingly, it is an object of the present invention to provide a means by which the thermodynamic requirements of an electrolytic cell can be actively controlled to enable the formation and maintenance of a ledge on the inner surface of the side wall refractory material.

Internal cooling of electrolytic smelting cell


In accordance with the present invention, an envelope is provided. The envelope comprises a front wall, a bottom wall connected to the front wall along a lower fold line, and a rear wall connected to the bottom wall along a fold line. The wall section has a slot located along a vertical centerline thereof and a flap located along a distal edge thereof. The flap has a notch. A closure flap is connected to the front wall along an upper fold line. The flap has a V-shaped notch along a distal edge thereof that defines a pair of tongues in the flap. A pair of opposing wing sections are each connected to the front wall along side fold lines. The wing sections each have a base portion that partially defines a side wall and a wing portion for threading engagement with the slot of the closure flap. The wing portions have wing tips for tucking engagement with sides of the rear wall.

The present invention relates to envelopes and, more particularly, to a new and improved glueless folding envelope and a method of forming such an envelope. The present invention finds particular application as a paper envelope and is described herein with particular reference thereto. However, it is to be appreciated that the present invention is also amenable to other applications.
In accordance with the present invention, an envelope is provided. The envelope comprises a front wall, a bottom wall connected to the front wall along a lower fold line, and a rear wall connected to the bottom wall along a fold line. The wall section has a slot located along a vertical centerline thereof and a flap located along a distal edge thereof. The flap has a notch. A closure flap is connected to the front wall along an upper fold line. The flap has a V-shaped notch along a distal edge thereof that defines a pair of tongues in the flap. A pair of opposing wing sections are each connected to the front wall along side fold lines. The wing sections each have a base portion that partially defines a side wall and a wing portion for threading engagement with the slot of the closure flap. The wing portions have wing tips for tucking engagement with sides of the rear wall.
A main advantage of the present invention resides in the provision of an envelope and a method of forming the envelope that does not require glue to maintain the shape of the envelope.
Another primary advantage of the present invention is the provision of fold lines and a method of using the fold lines to define an expandable envelope pocket.
A further advantage of the present invention is the provision of an envelope that requires only folding to form the envelope.
Still other advantages and benefits of the invention will be apparent to those skilled in the art upon reading and understanding the following detailed description.


Wax-based composition for protecting and polishing paint, plastic and metal surfaces, or as a mold release, to remain free of clinging dust, comprising a first hydrocarbon wax having a relatively higher HLB value, a second hydrocarbon wax having a relatively lower HLB value, the first and second waxes being combined into a wax blend having an intermediate HLB value based on the proportions of each wax, a solvent for the blend, the solvent having a given HLB value, the HLB value of the wax-solvent mixture being predetermined by the wax blend HLB value and the concentration and HLB value of the solvent, and a small but effective amount of a quaternary compound having an anti-static persistence at the predetermined HLB value to maintain the surfaces protected, polished and free of clinging dust.

Wax and sealer compositions find wide use in protecting and polishing metal, painted and plastic surfaces, and as release agents in molding and lay-up operations. Natural and synthetic waxes are blended with solvent systems and applied to the surface to be protected. Often the applied wax is buffed to a high gloss. Also the surface to which a wax release agent is applied may have been preliminarily buffed before waxing or sealing to ensure the smoothest possible surface.
Buffing and polishing engender in the wax or sealer a static charge which attracts dust and other airborne particles to the surface adversely affecting appearance, and, in the case of mold release agents, bringing potential surface defects into the mold.

Anti-static compositions for molds, molded parts and painted surfaces


The present invention is a container device. It is comprised of a flexible container with a firm flexible collar around the opening. The collar is used to scoop the waste into the container. The collar can open, close and manipulate the shape of the opening to the container. The device also has a protective skirt of flexible material that surrounds it and protects the user and the container from contamination. The skirt contains a closure such as a draw string or adhesive tape. After use, the skirt is pulled back over the container and closed. The device is folded and packaged in a packaging-tool. The packaging-tool is a strong rigid sleeve in which the device is enclosed that is used to hold the waste in place when scooping.

1. Field of Invention
This invention relates to a container device for the collection of pet waste and other noxous materials.
2. Description of Prior Art
A primary application of this invention is the collection of dog waste. It is estimated that in the United States there are more than 50 million dogs, that produce more than 5 thousand tons of waste per day. Most major municipalities have pet waste laws ("scooper laws") in an attempt to alleviate some of this problem. Unfortunately, no product exists that allows pet owners to conveniently, effectively, and efficiently clean-up after their pet (e.g., their dog). All devices designed heretofore to address this problem are ineffective and inconvenient to use.
Collecting devices such as Marvin U.S. Pat. No. 3,813,121 (1974), and scooping devices such as Johnson U.S. Pat. No. 3,850,467 (1974) and Bagg U.S. Pat. No. 4,741,565 (1988), are too large to conveniently fit into one's pocket and require hand carrying. These scoop devices have no way to compensate for the movement of waste and are awkward to use when the waste is in more than one mass. These collecting devices are ineffective when the waste (or stool) is loose and are awkward to use when the waste is in more than one mass, requiring the compiling of said waste in order to collect it.
the scooping device of Dahlke U.S. Pat. No. 3,837,696 (1974) has a very limited capacity and is very difficult and messy to use when the waste is of significant volume.
Glove or glove-like devices such as Jacobs U.S. Pat. No. 4,645,251 (1987), Hayes U.S. Pat. No. 4,677,697 (1987), and Kolie U.S. Pat. No. 4,768,818 (1988) are inconvenient because they expose the user to the texture and sometimes the temperature of the waste. These glove and glove-like devices: 1) restrict the volume of waste that can be picked up to the size of the user's hands, 2) require the user to combine waste that is deposited in several locations in order to pick-up the entire mass, and 3) are difficult to use when waste is loose.
A waste collecting device that is on the market ("DISPOS-A-SCOOP") is also a scooping device. It suffers from a large fixed profile that requires hand carrying. It has a relatively small opening that will not accommodate some waste configurations. Used as instructed, the outside of the container becomes contaminated and it provides no means for compensating for waste movement.
"Scoop-It" is another scooping device that is on the market. It is a large molded plastic apparatus which is covered with a flexible plastic sleeve to keep it clean and capture the waste. It is inconvenient to carry and difficult to use when the waste is loose or in several masses.

Container device for the collection of waste


A patient litter basket spin control assembly for use on a patient litter basket is provided. The assembly comprises thruster unit for discharging an air stream and is mounted on the patient litter basket. At least one sensor is associated with the thruster unit for sensing rotational movement or spin of the patient litter basket, and a power source is provided for powering the thruster unit and the sensor. A clamp member mounts on the patient litter basket and releasably receives the thruster unit. The sensors modulate the force of the air stream from the thruster unit so that the air stream counters the rotational movement of the patient litter basket to stabilize the patient litter basket by preventing the spin.

This invention relates to a patient litter basket with spin control capabilities. The invention in one aspect, is for a patient litter basket, preferably for use in medical airlift or rescue operations, wherein a patient or person is placed in the litter basket for removal and transportation to a hospital or other location. The litter basket has associated therewith structures and machinery which are intended to eliminate or reduce spin of the litter basket, which may be induced by ambient air movement, either from current environmental conditions, the helicopter or aircraft rotors (down wash), or a mixture of both or additional factors.
The use of helicopters and other aircraft is well known and commonly utilized for rescuing and transporting injured or ill patients who may be located in an area which is difficult to access in the normal course, due to the absence of roads or adequate pathways leading to and from such area. Even where access is available, a helicopter rescue or transport may be needed where the patient is in a critical condition and needs to be transported to a hospital in less time than it would take for regular forms of transportation, such as in ambulances.
Helicopter rescue of patients is normally accomplished by landing the helicopter nearby the person needing attention. However, there may be many instances where there is no suitable landing site or pad for the helicopter, and the patient must be reached and placed in the helicopter while the helicopter continues to remain airborne, hovering near the pickup site. In such instances, a typical manner for rescue is to lower a patient litter basket from the helicopter by means of a winch, when the helicopter is more or less directly overhead or nearby the patient. The winch may comprise a cable which is unreeled, the cable having a hook, swivel or other mechanical structure at its one end by means of which the patient litter basket is attached thereto. There may be a plurality of cables between the hook, swivel or other mechanical structure and the patient litter basket itself, in order to provide more stability to the patient litter basket.
One of the issues in such rescues relates to the possibility that the patient litter basket may begin to spin, which may be the result of ambient wind and weather conditions (such as, for example, fire driven windstorms), or the downdraft of the helicopter rotor itself. While a small amount of spin induced by such conditions may not be a problem, the induced spin may accelerate and increase so that the number of revolutions of the litter basket per minute becomes at least unpleasant for the patient, sometimes inducing sickness, and often dangerous to the patient or the rescue operation.


A vehicle includes receiving signals from a plurality of satellites; obtaining position information based on the received signal; detecting a driving speed and yaw rate; obtaining dead reckoning information based on position information about a position of a vehicle recognized in a previous cycle and the received detection information; predicting the position information based on the obtained dead reckoning information; obtaining a value of Euclidean distance based on the position information about the position of the vehicle recognized in the previous cycle and the obtained position information; generating a first outlier filter based on the value of the Euclidean distance; obtaining a value of Mahalanobis distance based on the obtained position information and the predicted position information; generating a second outlier filter based on the value of the Mahalanobis distance; recognizing a current position of the vehicle by fusing information passing through the first outlier filter and information passing through the second outlier filter; and outputting information about the current position of the recognized vehicle as an image or a sound.

In recent years, in order to prevent an accident caused by driver's carelessness and to safely drive to a destination, various advanced driver assistance systems (ADAS) have been developed to transmit driving information of a vehicle to the driver and to provide convenience to the driver.
The ADAS includes at least one of an ultrasonic sensor, an image sensor, a laser sensor, and a Light Detection And Ranging (LiDAR) sensor that can replace a human field of view, and may assist the driver in recognizing the road environment even when the driver cannot accurately recognize the road environment due to driver's carelessness, negligence, and visibility limitations by collecting information related to driving of the vehicle using the at least one sensor and guiding the driver while recognizing objects such as obstacles in the front.
With the development of position recognition technology of the vehicle, sensor technology, and antenna technology, the ADAS receives not only road guidance and traffic jam notification information, but also driving information, road condition information, and inter-vehicle message information of surrounding vehicles through a service of an intelligent transportation system (ITS), and controls autonomous driving of the vehicle based on the received information.
Here, the position recognition of the vehicle uses the global navigation satellite system (GNSS).
The GNSS is a system that provides information about a position, altitude, and speed of objects on a ground using satellites orbiting space. The GNSS may grasp precise position information with a resolution of 1 m or less, and is widely applied not only in military applications, but also in civilian fields such as position guidance, geodetic, emergency rescue, and communication of aircraft, ships, and vehicles.
The GNSS is composed of one or more GNSS satellites and a GNSS receiver capable of receiving signals, and a terrestrial monitoring station. The signals transmitted from the GNSS satellites are received by the GNSS receiver to determine a position through a distance from the GNSS satellites.
The position recognition using the satellite has a problem in that the accuracy of the vehicle is lost due to a loss of communication with the satellite when it is located in a shaded area such as a city or mountain covered with forest.

Advanced driver assistance system, vehicle having the same, and method of controlling vehicle


A first user input is received when a client program executed by a client computing device is in a first state. The first user input is sent to a server computing device to render a view of a virtual scene. A state change from the first state in the client program due to a second user input or a program event is identified. One or more gaps in a server-rendered current view due to the state change are determined. A rendering of the one or more gaps is selected from among the server-rendered current view, a server-rendered predicted view and one or more prior-rendered views. A current view is rendered using a simplified model of the virtual scene by rendering the one or more gaps from the selected rendering. The current rendered view is visually presented via a display of the client computing device.

A client computing device may offload image rendering operations to a server computing device. In particular, the server computing device may render images and send the rendered images to the client computing device via a wide area network. For example, a client computing device may offload rendering operations to a server computing device, because the client computing device may have hardware limitations that restrict the image rendering capabilities of the client computing device.

View rendering from multiple server-side renderings


A device to rapidly and safely excise tissue samples from a living body including a means to prevent lateral movement of the cutting edge as it engages the tissue and a means to control the depth of excision. The device also features an external sheath which is driven into the tissue with the coring shaft and which provides the operator with continued access to the sampling site after removal of the tissue core.

1. Field of the Invention
The invention relates to a device for the controlled excision of a piece of tissue from a living body. The term "tissue," as used herein, refers, but is not limited to dense structures such as bone and other calcified structures and to soft structures such as solid organs and tumors. The tissue removed could be for the purpose of diagnosing a suspected pathologic condition that is involving the tissue, and/or for the purpose of completely removing all diseased tissue, thus effecting treatment of the disease. Another purpose of removing a piece of tissue would be to provide an access port to fluid or tissue below the surface of an organ or structure; the aspiration of marrow from the cavity of a bone is an example of this application of the invention.
2. Description of Prior or Contemporary Art
In the practice of clinical and research medicine, the practitioner is frequently required to remove a piece of tissue from an organ or structure that is suspected to be involved with a disease process. The tissue is then sent for microscopic examination and/or culture so that a diagnosis of the exact pathologic process can be made. At times, the entire area of suspected involvement is removed so that the disease process is not only diagnosed but is also definitively treated. Excision of diseased tissue may be performed through a surgical incision; the tissue then is excised under direct vision. Alternatively, the tissue may be excised by an instrument that is passed through a puncture wound in the skin and directed to the area of interest. This percutaneous technique eliminates the recovery period required after an open procedure. This in turn reduces the costs of the procedure as well as morbidity.
Three essential conditions must be satisfied by a device used to excise tissue: 1) The device must be controllable so that it does not deviate from the area of interest during the cutting process; 2) The depth of penetration must be displayed to the operator or controlled by a mechanical stop so that underlying structures deep to the area of interest are not damaged; 3) The sample of tissue cannot be crushed or otherwise damaged by the excision process which could result in an inaccurate pathologic diagnosis. A forth condition, required in specific applications, is continued access to the area where tissue has be removed. This would allow removal of additional tissue either by further excision or by aspiration. It would also permit application of a plug in the void at the excision site, thereby preventing hemorrhage or leakage of other bodily fluids.
There have been many prior art devices developed to remove tissue from a living body, some used during a surgical operation, others used percutaneously. Many of these devices utilize a narrow gauge hollow needle which is plunged into the area of interest and then withdrawn; a very small core of tissue is thus harvested. There are many variations to the "plunge type" instruments, but since none use a moving cutting edge, there use is limited to very soft tissue. A potential problem with these devices is that the architecture of the excised tissue may not be preserved due to compression of the specimen, even when used in soft tissue. Also, the depth of the tissue core cannot be monitored effectively.
U.S. Pat. No. 4,262,676 describes a bone biopsy device developed by Jamshidi that uses a hollow shaft cutter which is manually driven into the tissue using an oscillating rotational motion. A significant amount of pressure has to be maintained on the instrument to advance into the bone; when performing a biopsy on an irregularly shaped bone, the device may deviate laterally, and possibly completely slip off the surface. This can result in damage to surrounding structures or, minimally, not excising tissue from the precise area of interest. The device can only be used to excise a core from relatively soft cancellous bone. It does not incorporate a depth control feature.
There have many prior art devices developed to provide a more controlled excision of a core of hard tissue such as bone, some of which use a powered cutting cylinder. U.S. Pat. No. 4,306,570 describes a device used to excise hard tissue which features two counterrotating concentric cutting edges that are said to eliminate the problem of lateral migration as the cutting edges engage the tissue. The device neither has a depth control feature nor a means to allow for continued access to the area of excision after the core of tissue has been removed.
U.S. Pat. No. 3,893,445 describes a device for the biopsy of bone marrow which consists of a sheath device and a central cutting needle. The sheath is first positioned on the surface of the bone; a cutting cannula is then introduced through the sheath to excise a core of bone. The sheath does not substantially penetrate the bone and, therefore, one must maintain its position manually throughout the procedure in order to provide continued access to the tissue following removal of a core sample. No depth control feature is provided in this device.
U.S. Pat. No. 4,142,517 describes another instrument which uses a sheath that minimally penetrates the bone surface to prevent lateral deviation of a cutting shaft which is subsequently introduced. After the core is excised, the sheath may be driven into the bone as a separate operation, thus giving the operator continued access to the underlying tissue.

Device for the controlled excision of tissue from a living body


A method includes steps of: capturing an image of a container; recognizing at least one object in the container based on the image; determining at least one first coordinate set corresponding to the at least one object; determining at least one second coordinate set that corresponds to target one (s) of the at least one first coordinate set and that relates to a fixed picking device of a robotic arm; adjusting position(s) of unfixed picking device(s) of the robotic arm if necessary; controlling the robotic arm to pick up one (s) of the at least one object that correspond(s) to the at least one second coordinate set with the fixed picking device and/or at least one unfixed picking device.

A robotic arm is an automatic control equipment that can imitate functions of a human arm to perform tasks such as soldering, assembling, packing, object-moving, etc., and is extensively used in various workplaces to save human resources and to protect workers from dangerous activities. A conventional robotic arm for object-moving can operate on only one object (e.g., picking up one object at a first location and then putting the object down at a second location) at a time. When there are, for example, ten objects of a same kind to be moved from a first location to a second location, the conventional robotic arm needs to make ten round trips between the first and second locations to complete the task, consuming a large amount of time.

Method and system for detecting and picking up objects


A route search apparatus according to the present invention comprises: a storage device that stores link positional information of individual links and link connection information between the links, a minimum unit of road on a map being referred to as a link; a departure point specification device that specifies a point of departure on the map; a destination specification device that specifies a destination on the map; and a control device that selects a start point link that is to constitute a start point of a route search based upon the point of departure specified by the departure point specification device and the link positional information, selects an end point link that is to constitute an end point of the route search based upon the destination specified by the destination specification device and the link positional information, and performs a route search between the start point link and the end point link based upon the link connection information. And the control device selects a plurality of the start point links and a plurality of the end point links.

1. Field of the Invention
The present invention relates to a route search apparatus that may be adopted in navigation systems for vehicles and the like to search a route from a point of departure to a destination.
2. Description of the Related Art
Vehicular navigation systems in the known art are provided with a function for displaying a roadmap of the area where the vehicle is currently located, a function for accurately detecting the vehicle position through map matching, a function for calculating a recommended route from a point of departure to a destination and the like. In these vehicular navigation systems in the prior art, roadmap display data, data for map matching and data for route search are separately stored in a CD ROM.
The roadmap display data include widest range map data for displaying large areas at the smallest scale, most detailed map data for displaying small areas in detail at the largest scale and a plurality of sets of map data at different scales between that of the widest range map data and that of the most detailed map data. For instance, the widest range map data may be referred to as level 4 data, the most detailed map data may be referred to as level 1 data and the sets of data at scales between those of the level 4 data and the level 1 data may be referred to as level 3 data and level 2 data. And the route search data include two sets of data that correspond to the level 4 and level 2 roadmap data, and the vicinity of the point of departure and the vicinity of the destination are searched using the level 2 data and the other area is searched using the level 4 data for route search to reduce the length of time required for the route search.
However, when one or more waypoints are set between a point of departure and a destination, read out of level 2 route search data and read out of level 4 route search data are mixed, and even if a buffer memory or the like is provided between the CD ROM device and the control device, the read out data are not hit with a high degree of efficiency in the buffer memory, resulting in a reduction in processing speed.
Moreover, it is desirable that the processing time required for route search be reduced, since, once the user issues an instruction for route search start to the system after setting a destination and the like, the results of the route search should be output as soon as possible so that the user will not have to wait for the results.
Also, when calculating a recommended route from a point of departure (current vehicle position) to a destination, a start point is set for route search in the vicinity of the point of departure using the roadmap display data, an end point is set for route search in the vicinity of the destination in a similar manner and then the route search data are used to perform route search between the start point and the end point that have been set. In this process, the closest road (the minimum unit of a road is referred to as a link) is selected as the start point or the end point of the route search.
However, if such a road (link) is under a traffic restriction such as one-way traffic and the vehicle cannot advance toward the destination from the point of departure or if the vehicle cannot approach the destination from the direction of the point of departure, the route search is abandoned and results are output indicating that the route search could not be completed.


Disclosed are an ink set for ink jet recording which can realize images having excellent lightfastness, and an ink jet recording method using the same. The ink set for ink jet recording comprises two or more inks, the order from highest to lowest of fading of the inks being in the order from highest to lowest of lightness of the inks.

1. Field of the Invention
The present invention relates to an ink set for ink jet recording which can realize images having excellent lightfastness, and an ink jet recording method using the same.
2. Background Art
Fading of color images with the elapse of time sometimes makes the color images different from the original one. One conventional method for rendering the change in images unnoticeable is to use inks having substantially the same fading rate. This is based on a thought that, since the inks fade on substantially the same level, the printed inks constituting the printed color image would fade on substantially the same level. This makes it difficult to notice the fading of the whole color image.
On the other hand, in general, many properties are required of colorants used in inks for ink jet printers. For example, dissolution or dispersion in solvents is necessary for stable ejection from the ink jet recording head and prevention of clogging. Additional properties required of the colorants include that the colorants do not deteriorate head members and fixation onto recording sheets and color development are good. In addition, safety and the like are required. The above various restrictions unfavorably limit colorants usable in inks for ink jet recording. Therefore, it is very difficult to use color inks having the same fading rate.
The present inventors have now found that, even though the inks used with ink jet printers do not have identical fading, use of a combination of the inks that have a difference in fading in the order of lightness of the inks renders the fading of a color image visually unnoticeable. Further, the present inventors have found that deposition of the inks in the order from highest to lowest of fading onto recording media can more effectively enjoy the above advantage. The present invention has been made based on such finding.
Thus, according to one aspect of the present invention, there is provided an ink set for ink jet recording, comprising two or more inks, the order from highest to lowest of fading of the inks being in the order from highest to lowest of lightness of the inks.
According to another aspect of the present invention, there is provided an ink jet recording method comprising the steps of: ejecting droplets of inks; and depositing the droplets onto a recording medium to perform printing, the inks being inks constituting the ink set according to the present invention. According to a preferred embodiment of the present invention, the inks are deposited in the order from highest to lowest of fading onto the recording medium.
Color images formed by the ink set according to the present invention, even when faded with the elapse of time, cannot visually notice the fading without difficulty. Therefore, the lightfastness of the printed images can be apparently improved. This advantage is significant in recording using ink jet printers wherein ink droplets are deposited directly onto recording media, and is more significant in ink systems using dispersed pigments.
Ink Set
The ink set according to the present invention comprises a combination of two or more inks selected so that the order from highest to lowest of fading of the inks is in the order from highest to lowest of lightness of the inks. Therefore, for example, if assume that inks A, B, and C respectively having lightnesses La, Lb, and Lc (La greater than Lb greater than Lc) are present and these are combined to constitute an ink set according to the present invention, the fading of the ink A (Fa), the fading of the ink B (Fb), and the fading of the ink C (Fc) should satisfy the following relationship: Fa greater than Fb greater than Fc.
The ink set according to the present invention preferably comprises at least a yellow ink, a magenta ink, and a cyan ink. When the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the magenta ink, and the cyan ink, the fading of the yellow ink (Y), the fading of the magenta ink (M), and the fading of the cyan ink (C) should satisfy the following relationship: Y greater than M greater than C. That is, the order from largest to smallest of the fading should be the yellow ink, the magenta ink, and the cyan ink.
When the ink set according to the present invention further contains a black ink in addition to the yellow ink, the magenta ink, and the cyan ink, and, in this case, when the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the magenta ink, the cyan ink, and the black ink, the fading of the light black ink (K), the fading of the yellow ink (Y), the fading of the magenta ink (M), and the fading of the cyan ink (C) should satisfy the following relationship: Y greater than M greater than C greater than K.
When the ink set according to the present invention comprises a light magenta ink and/or a light cyan ink in addition to the yellow ink, the magenta ink, and the cyan ink, and, in this case, when the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the light magenta ink, the light cyan ink, the magenta ink, and the cyan ink, the fading of the yellow ink (Y), the fading of the light magenta ink (Lm), the fading of the light cyan ink (Lc), the fading of the magenta ink (M), and the fading of the cyan ink (C) should satisfy the following relationship: Y greater than Lm greater than Lc greater than M greater than C.
When the ink set according to the present invention further contains a black ink in addition to the yellow ink, the light magenta ink, the light cyan ink, the magenta ink, the cyan ink, and the black ink, and, in this case, when the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the light magenta ink, the light cyan ink, the magenta ink, the cyan ink, and the black ink, the fading of the black ink (K), the fading of the yellow ink (Y), the fading of the light magenta ink (Lm), the fading of the light cyan ink (Lc), the fading of the magenta ink (M), and the fading of the cyan ink (C) should satisfy the following relationship: Y greater than Lm greater than Lc greater than M greater than C greater than K.
The xe2x80x9clight magentaxe2x80x9d refers to pale magenta, and the xe2x80x9clight cyanxe2x80x9d refers to pale cyan. The light magenta ink used in the present invention may be easily produced by a conventional method, for example, by reducing the content of a colorant (a pigment or a dye) used in the preparation of a magenta ink, or, in the case of a pigment ink, by reducing the particle diameter of the pigment used. Likewise, the light cyan ink used in the present invention may be easily produced by a conventional method, for example, by reducing the content of a colorant (a pigment or a dye) used in the preparation of a cyan ink, or, in the case of a pigment ink, by reducing the particle diameter of the pigment used.
When the ink set according to the present invention comprises an orange ink and/or a green ink in addition to the yellow ink, the magenta ink, and the cyan ink, and, in this case, when the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the orange ink, the magenta ink, the cyan ink, and the green ink, the fading of the yellow ink (Y), the fading of the orange ink (O), the fading of the magenta ink (M), the fading of the cyan ink (C), and the fading of the green ink (G) should satisfy the following relationship: Y greater than O greater than M greater than C greater than G.
When the ink set according to the present invention further contains a black ink in addition to the yellow ink, the magenta ink, the cyan ink, the orange ink, and the green ink, and, in this case, when the order from highest to lowest of lightness of the inks contained in this ink set is the yellow ink, the orange ink, the magenta ink, the cyan ink, the green ink, and the black ink, the fading of the black ink (K), the fading of the yellow ink (Y), the fading of the orange ink (O), the fading of the magenta ink (M), the fading of the cyan ink (C), and fading of the green ink (G) should satisfy the following relationship: Y greater than O greater than M greater than C greater than G greater than K.
The term xe2x80x9clightnessxe2x80x9d used herein refers to the L* value in the L*a*b* color system specified in CIE (Commission International de l""Eclairage).
Further, the term xe2x80x9cfading (F)xe2x80x9d used herein is a value obtained by formula (I):
F(%)=(Dixe2x88x92De)/Dixc3x97100xe2x80x83xe2x80x83(I)
wherein Di represents the reflection density as measured in an early stage of printing and De represents the reflection density after a lightfastness test. The reflection density of the ink may be measured with any conventional spectrophotometer. The lightfastness may also be determined by any conventional testing method.
According to the present invention, the fading of each ink may be regulated by properly selecting the kind of the colorant (pigment or dye) used.
According to a preferred embodiment of the present invention, the ink is preferably a pigment-based ink using a pigment as the colorant.
In the case of the pigment-based ink, the fading of the ink may be regulated by varying the particle diameter of the pigment used; Specifically, reducing the particle diameter of the pigment can increase the fading of the ink containing the pigment, and thus the fading may be regulated by properly regulating the particle diameter. According to the present invention, the particle diameter of the pigment may be expressed in terms of the accumulative average diameter as an index. The cumulative average diameter refers to such a diameter that corresponds to 50% of a cumulative curve on particle diameter prepared with the total volume of a population of an object powder being presumed to be 100%. The cumulative average diameter is also known as xe2x80x9ccenter diameterxe2x80x9d or xe2x80x9cmedia diameter,xe2x80x9d and is in many cases used as the average particle diameter of a dispersion of fine particles, such as a pigment dispersion.
According to the present invention, the colorant may be any colorant, that is, an inorganic dye and/or an organic dye, or preferably an organic pigment and/or an organic pigment, so far as the fading requirement is satisfied. As described above, however, utilization of pigments is preferred. Inorganic pigments usable herein include, in addition to titanium oxide and iron oxide, carbon blacks produced by known processes, such as contact, furnace, and thermal processes. Organic pigments usable herein include azo pigments (including azo lake, insoluble azo pigment, condensed azo pigment, and chelate azo pigment), polycyclic pigments (for example, phthalocyanine, perylene, perinone, anthraquinone, quinacridone, dioxazine, thioindigo, isoindolinone, and quinophthalone pigments), dye chelates (for example, basic dye chelates and acid dye chelates), nitro pigments, nitroso pigments, and aniline black.
According to a particularly preferred embodiment of the present invention, the yellow pigment is C.I. Pigment Yellow 74, 109, 110, or 138, the magenta pigment is C.I. Pigment Red 122, 202, or 209, the cyan pigment is C.I. Pigment Blue 15:3 or 60, the black pigment is C.I. Pigment Black 7, the orange pigment is C.I. Pigment Orange 36 or 43, and the green pigment is C.I. Pigment Green 7 or 36. According to the present invention, among these pigments, use of pigments having good affinity for water is preferred.
The particle diameter of the pigment is preferably 0.15 to 0.25 xcexcm, more preferably 0.15 to 0.2 xcexcm, in terms of the cumulative average diameter.
The present invention will be described with reference to an embodiment using pigment-based inks. The following description is tree of dye-based inks unless otherwise specified.
According to the present invention, the pigment is preferably added as a pigment dispersion obtained by dispersing a pigment with the aid of a dispersant. Preferred dispersants include conventional dispersants commonly used in the preparation of conventional pigments dispersions, for example, polymeric dispersants, or surfactants.
Examples of polymeric dispersants usable herein include naturally occurring polymeric compounds, and specific examples thereof include: proteins, such as glue, gelatin, casein, and albumin; naturally occurring rubbers, such as gum arabic and tragacanth; glucosides, such as sponging; alginic acid and alginic acid derivatives, such as propylene glycol alginate, triethanolamine alginate, and ammonium alginate; and cellulose derivatives, Such as methyl cellulose, carboxymethyl cellulose, hydroxyethyl cellulose, and ethylhydroxyethyl cellulose.
Synthetic polymeric compounds may also be used as the polymeric dispersant. Synthetic polymeric compounds usable herein include, for example, polyvinyl alcohols; polyvinyl pyrrolidones; acrylic resins, such as polyacrylic acid, acrylic acid/acrylonitrile copolymer, potassium acrylate/acrylonitrile copolymer, vinyl acetate/acrylic ester copolymer, and acrylic acid/alkyl acrylate copolymer; styrene/acrylic resins, such as styrene/acrylic acid copolymer, styrene/methacrylic acid copolymer, styrene/methacrylic acid/alkyl acrylate copolymer, styrene/xcex1-methylstyrene/acrylic acid copolymer, and styrene/xcex1-methylstyrene/acrylic acid/alkyl acrylate copolymer; styrene/maleic acid copolymer; styrene/maleic anhydride copolymer; vinylnaphthalene/acrylic acid copolymer; vinylnaphthalene/maleic acid copolymer; vinyl acetate copolymers, such as vinyl acetate/ethylene copolymer, vinyl acetate/fatty acid vinylethylene copolymer, vinyl acetate/maleic ester copolymer, vinyl acetate/crotonic acid copolymer, and vinyl acetate/acrylic acid copolymer; and salts of the above polymers.
Among them, a copolymer of a monomer having a hydrophobic group with a monomer having a hydrophilic group and a polymer of a monomer having both a hydrophobic group and a hydrophilic group in its molecular structure are particularly preferred.
Examples of salts of the above polymers include salts of the above polymers with diethylamine, ammonia, ethylamine, triethylamine, propylamine, isopropylamine, dipropylamine, butylamine, isobutylamine, triethanolamine, diethanolamine, aminomethylpropanol, morpholine or the like. The weight average molecular weight of these copolymers is preferably 3,000 to 30,000, more preferably 5,000 to 15,000.
Examples of preferred surfactants as the dispersant include: anionic surfactants, such as salts of fatty acids, salts of higher alkyldicarboxylic acids, salts of higher alcohol sulfates, salts of higher alkylsulfonic acids, condensates of higher fatty acids with amino acids, salts of sulfosuccinic ester, salts of naphthenic acid, salts of liquid fatty oil sulfuric esters, and salts of alkylallylsulfonic acids; cationic surfactants, such as fatty acid amine salts, quaternary ammonium salts, sulfonium salts, and phosphonium salts; and nonionic surfactants, such as polyoxyethylene alkyl ethers, polyoxyethylene alkyl esters, sorbitan alkyl esters, and polyoxyethylene sorbitan alkyl esters.
The amount of the dispersant added is preferably 0.06 to 3 parts by weight, more preferably 0.125 to 3 parts by weight, based on one part by weight of the pigment.
According to a preferred embodiment of the present invention, the inks used in the present invention further contain a wetting agent. Preferred wetting agents include diethylene glycol, polyethylene glycol, polypropylene glycol, ethylene glycol, propylene glycol, butylene glycol, triethylene glycol, 1,2,6-hexanetriol, thioglycol, hexylene glycol, glycerin, trimethylolethane, trimethylolpropane, urea, 2-pyrrolidone, N-methyl-2-pyrrolidone, and 1,3-dimethyl-2-imidazolidinone. Those having an ethylene oxide group are preferred with diethylene glycol being most preferred.
Addition of low-boiling organic solvents in addition to these wetting agents is preferred. Examples of preferred low-boiling organic solvents include methanol, ethanol, n-propanol, iso-propanol, n-butanol, sec-butanol, tert-butanol, iso-butanol, n-pentanol, ethylene glycol monomethyl ether, ethylene glycol monoethyl ether, diethylene glycol monomethyl ether, diethylene glycol monoethyl ether, triethylene glycol monomethyl ether, and triethylene glycol monoethyl ether. Among them, monohydric alcohols are particularly preferred.
The amount of the wetting agent added is generally 0.5 to 40% by weight, preferably 2 to 20% by weight, based on the ink. The amount of the low-boiling organic solvent added is generally 0.5 to 10% by weight, preferably 1.5 to 6% by weight, based on the ink.
According to a preferred embodiment of the present invention, the inks used in the present invention may contain a surfactant. Examples of preferred surfactants usable herein include anionic surfactants (for example, sodium dodecylbenzenesulfonate, sodium laurylate, and an ammonium salt of polyoxyethylene alkyl ether sulfates), nonionic surfactants (for example, polyoxyethylene alkyl ethers, polyoxyethylene alkyl esters, polyoxyethylene sorbitan fatty acid esters, polyoxyethylene alkylphenyl ethers, polyoxyethylenealkylamines, and polyoxyethylenealkylamides). They may be used alone or in combination of two or more. Further, acetylene glycol [OLFINE Y and Surfynol 82, 104, 440, 465, 485, and TG (all the above products being manufactured by Air Products and Chemicals Inc.)] may also used.
The inks used in the present invention may contain a saccharide. Examples of saccharides usable herein include monosaccharide, disaccharides, oligosaccharides (including trisaccharides and tetrasaccharides), and other polysaccharides, preferably glucose, mannose, fructose, ribose, xylose, arabinose, galactose, aldonic acid, glucitol, sorbit, maltose, cellobiose, lactose, sucrose, trehalose, and maltotriose. Saccahrides noted above include alginic acid, xcex1-cyclodextrin, and cellulose.
Derivatives of these saccharides usable herein include reducing sugars of the above saccharides, for example, sugar alcohols, oxidizing sugars (for example, aldonic acid or uronic acid), amino acids, and thiosugars. Among them, sugar alcohols are particularly preferred, and specific examples thereof include maltitol and sorbit.
The content of the saccharide is preferably 0.1 to 40% by weight, more preferably 0.5 to 30% by weight, based on the ink.
The inks used in the present invention may contain a resin emulsion. The term xe2x80x9cresin emulsionxe2x80x9d used herein refers to an emulsion comprising water as a continuous phase and the following resin component as a dispersed phase. Resin components as the dispersed phase include acrylic resin, vinyl acetate resin, styrene/butadiene resin, vinyl chloride resin, (meth)acrylate/styrene resin, butadiene resin, and styrene resin.
According to a preferred embodiment of the present invention, the resin is a polymer having a combination of a hydrophilic segment with a hydrophobic segment. The particle diameter of the resin component is not particularly limited so far as the resin component can form an emulsion. It, however, is preferably not more than about 150 nm, more preferably about 5 to 100 nm.
The resin emulsion may be prepared by mixing resin particles, optionally together with a surfactant, in water. For example, an emulsion of an acrylic resin or a styrene/(meth)acrylic resin may be prepared by mixing an ester of (meth)acrylic acid or alternatively styrene in combination with an ester of (meth)acrylic acid, optionally together with an (meth)acrylic acid, in water in the presence of a surfactant. In general, the mixing ratio of the resin component to the surfactant is preferably about 10:1 to 5:1. When the amount of the surfactant used is less than the lower limit of the above amount range, it is difficult to obtain an emulsion. On the other hand, when the amount of the surfactant used exceeds the upper limit of the above amount range, disadvantageously, there is a tendency that the waterfastness of the ink is deteriorated, or otherwise the penetration is deteriorated.
The surfactant is not particularly limited. Preferred examples thereof include: anionic surfactants for example, sodium dodecylbenzenesulfonate, sodium laurylate, and an ammonium salt of polyoxyethylene alkyl ether sulfates), nonionic surfactants (for example, polyoxyethylene alkyl ethers, polyoxyethylene alkyl esters, polyoxyethylene sorbitan fatty acid esters, polyoxyethylene alkylphenyl ethers, polyoxyethylenealkylamines, and polyoxyethylenealkylamides). They may be used alone or in combination of two or more.
The ratio of the resin as the component constituting the dispersed phase to water is suitably 60 to 400 parts by weight of water based on 100 parts by weight of the resin, preferably 100 to 200 parts by weight of water based on 100 parts by weight of the resin.
Known resin emulsions may also be used as the above resin emulsion. For example, resin emulsions described in Japanese Patent Publication No. 1426/1987and Japanese Patent Laid-Open Nos. 56573/1991, 79678/1991, 160068/1991, and 18462/1992 as such may be used as the resin emulsion in the present invention.
Further, commercially available resin emulsions may also be used, and examples thereof include Microgel E-1002 and E-5002 (emulsion of styrene/acrylic resin, manufactured by Nippon Paint Co., Ltd.), Voncoat 4001 (emulsion of acrylic resin, manufactured by Dainippon Ink and Chemicals, Inc.), Voncoat 5454 (emulsion of styrene/acrylic resin, manufactured by Dainippon Ink and Chemicals, Inc.), SAE-1014 (emulsion of styrene/acrylic resin, manufactured by Nippon Zeon Co., Ltd.), and Saivinol SK-200 (emulsion of acrylic resin, manufactured by Saiden Chemical Industry Co., Ltd).
If necessary, pH adjustors, preservatives and/or antimolds and the like may be added to the inks used in the present invention.
The inks used in the present invention may be produced by dispersing and mixing the above ingredients using a suitable method. Preferably, the ingredients except for the organic solvent and volatile ingredients are mixed together in a suitable dispergator (for example, a ball mill, a sand mill, an attrittor, a roll mill, an agitator mill, a Henschel mixer, a colloid mill, an ultrasonic homogenizer, a jet mill, or an angmill) to prepare a homogeneous composition, and the organic solvent and the volatile ingredients are then added to the composition. Thereafter, preferably, the ink composition is filtered, preferably by filtration under reduced pressure or pressure filtration using a metallic filter, a membrane filter or the like, or centrifuged to remove coarse particles and foreign matter causative of nozzle clogging.
Ink Jet Recording Method
According to the ink jet recording method of the present invention, inks constituting the ink set of the present invention are used. According to the ink jet recording method of the present invention, preferably, the inks are deposited in the order from highest to lowest of fading of the inks onto a recording medium.
For example, when the ink jet recording method according to the present invention is carried out using at least a yellow ink, a magenta ink, and a cyan ink, it is preferred to select such a combination of inks that the order from highest to lowest of lightness of the inks is the yellow ink, the magenta ink, and the cyan ink and the fading of the yellow ink (Y), the fading of the magenta ink (M), and the fading of the cyan ink (C) satisfy the following relationship: Y greater than M greater than C. In this case, preferably, printing is carried out in such a manner that the yellow ink is first ejected, the magenta ink is then ejected, and, finally, the cyan ink is ejected.
Further, when the ink jet recording method of the present invention is carried out, for example, using the yellow ink, the magenta ink, and/or the cyan ink in combination with at least one ink selected from a light magenta ink, a light cyan ink, and a black ink, it is preferred to select such a combination of inks that the order from highest to lowest of lightness of the inks is the yellow ink, the light magenta ink, the light cyan ink, the magenta ink, the cyan ink, and the black ink and, in this case, the fading of the yellow ink (Y), the fading of the light magenta ink (Lm), the fading of the light cyan ink (Lc), the fading of the magenta ink (M), the fading of the cyan ink (C), and the fading of the black ink (K) satisfy the following relationship: Y greater than Lm greater than Lc greater than R greater than C greater than K. In this case, preferably, the inks are ejected in the order from highest to lowest of fading of the inks onto the recording medium.
Further, the ink jet recording method of the present invention is carried out, for example, using the yellow ink, the magenta ink, and/or the cyan ink in combination with at least one ink selected from an orange ink, a green ink, and a black ink, it is preferred to select such a combination of inks that the order from highest to lowest of lightness of the inks is the yellow ink, the orange ink, the magenta ink, the cyan ink, the green ink, and the black ink and, in this case, the fading of the yellow ink (Y), the fading of the orange ink (O), the fading of the magenta ink (M), the fading of the cyan ink (C), and the fading of the green ink (G), and the fading of the black ink (K) satisfy the following relationship: Y greater than O greater than M greater than C greater than G greater than K. In this case, preferably, the inks are ejected in the order highest to lowest of fading of the inks onto the recording medium.
In the images obtained by the method according to the present invention, the fading of the inks proceeds according to the above relational expression. However, it is substantially impossible or difficult to visually notice the difference in fading between the printed inks. Consequently, the fading of the whole color image can be made difficult to visually notice. According to the method of the present invention, the lightfastness of the printed images can be apparently improved.
According to still another aspect of the present invention, there is provided an ink let recording head comprising nozzles arranged in the direction of movement of the recording head so that the inks are ejected in the order from highest to lowest of fading.
According to a further aspect of the present invention, there is provided an ink jet recording apparatus comprising the ink jet recording head.
According to still further aspect of the present invention, there is provided a recorded medium printed by the ink jet recording method.

Ink set for ink jet recording and ink jet recording method


An ink jet printer head including a cavity unit; an piezoelectric actuator; and a wiring substrate. The piezoelectric actuator includes pairs of first common electrode connection pads and pairs of first individual electrode connection pads which are provided on an outer surface thereof such that the two first common electrode connection pads of each of the pairs are located at respective positions symmetric with each other with respect to a first reference point on the outer surface and the two first individual electrode connection pads of each of the pairs are located at respective positions symmetric with each other with respect to the first reference point. The wiring substrate further includes a second common electrode connection pad and a plurality of second individual electrode connection pads which are provided at respective positions assuring that when the wiring substrate takes a first angular phase about a second reference point corresponding to the first reference point, and when the wiring substrate takes a second angular phase differing from the first and phase by 180 degrees about the second reference point, the second common electrode connection pad is electrically connected to at least one of the first common electrode connection pads and the second individual electrode connection pads are electrically connected to the first individual electrode connection pads, respectively.

1. Field of the Invention
The present invention relates to an ink jet printer head and particularly to such an ink jet printer head which employs a piezoelectric actuator and has a plurality of ink ejection nozzles and which ejects, from an arbitrary one of the ink ejection nozzles, a droplet of ink by driving or operating the piezoelectric actuator.
2. Discussion of Related Art
Japanese Patent Application Publication No. 2002-36544, Japanese Patent Application Publication No. 2002-19102, or their corresponding U.S. Pat. No. 6,631,981 discloses an on-demand-type ink jet printer head. The disclosed printer head employs a cavity unit which is constituted by a plurality of sheet members stacked on each other and has a plurality of ink channels. Those sheet members include a nozzle sheet having a plurality of ink ejection nozzles; a base sheet having a plurality of pressure chambers communicating with the ink ejection nozzles, respectively; and a manifold sheet having a manifold chamber as a common ink chamber that communicates, at its inlet end, with an ink supply source and, at its outlet ends, with the pressure chambers. The disclosed printer head additionally employs a piezoelectric actuator including a plurality of piezoelectric sheets and a plurality of internal electrodes that are alternately stacked on each other. The plurality of internal electrodes include a plurality of common electrodes and a plurality of individual-electrode layers that are alternate with each other in the direction of stacking of the piezoelectric sheets and the internal electrodes. Each of the individual-electrode layers includes a plurality of individual electrodes that are independent of each other. Thus, the piezoelectric actuator includes a plurality of active portions each of which includes respective one individual electrodes of the individual-electrode layers, respective portions of the common electrodes that are aligned with those respective individual electrodes in the stacking direction, and respective portions of the piezoelectric sheets that are aligned with those respective individual electrodes in the same direction. The piezoelectric actuator is bonded to the cavity unit, such that each of the active portions of the piezoelectric actuator is aligned, in its plan view, with a corresponding one of the pressure chambers of the cavity unit.
The piezoelectric actuator has, on an outer surface of an outermost sheet thereof a plurality of external individual electrodes that are electrically connected to the internal individual electrodes of each one of the individual-electrode layers, respectively, via a plurality of internal conductive leads extending through a corresponding one of the piezoelectric sheets in the stacking direction; and an external common electrode that is electrically connected to each one of the common electrodes via an internal conductive lead extending through a corresponding one of the piezoelectric sheets in the stacking direction. Each one of the external individual electrodes, and the external common electrode are used to apply an electric voltage to a corresponding one of the active portions of the piezoelectric actuator. To this end, the external individual and common electrodes of the piezoelectric actuator are bonded to respective connection electrodes of a flexible flat cable which transmits control signals supplied from an external device.
In the disclosed printer head, however, the external individual and common electrodes are located, on the outer surface of the piezoelectric actuator, along opposite end portions of the outer surface that extend in a lengthwise direction thereof, i.e., in a direction in which the ink ejection nozzles are arranged in one or more arrays. Consequently a great number of lead wires which are connected, at respective one ends thereof, to the connection electrodes and are connected, at respective other ends thereof to an external driver IC (integrated circuit) are formed in narrow portions of the flexible flat cable that correspond to the above-indicated opposite end portions of the outer surface of the piezoelectric actuator. Therefore, as a total number of the ink ejection nozzles or the active portions increases, a distance between each pair of lead wires located adjacent each other decreases, and accordingly a mutual inductance produced between the each pair of adjacent lead wires increases. This leads to lowering a printing performance of the printer head.
In this background, Japanese Patent Application Publication No. 2001-260349 or its corresponding U.S. Pat. No. 6,604,817 has proposed to prevent the increasing of the above-indicated mutual inductance by connecting the flexible flat cable to the outer surface of the piezoelectric actuator, such that the flat cable extends in a direction perpendicular to the lengthwise direction of the outer surface, and form the thin lead wires such that the lead wires are distant from each other in the direction in which the arrays of ink ejection nozzles extend.


A rise in the power supply voltage as a result of a sudden speed reducing command causing the motor current to flow to the power supply is prevented. The motor drive device has a drive signal generating unit for generating a drive signal by an energizing control unit, PWM control unit, and oscillation unit; a drive unit for producing drive power to drive the motor based on the drive signal; a torque control signal generating unit for generating a torque control signal specifying the motor torque; a speed detection unit for detecting the rotational speed of the motor and generating a rotational speed signal denoting motor speed information; and a decision unit for generating a speed difference detection signal denoting the difference between the torque control signal and the rotational speed signal. The drive signal generating unit is controlled based on the speed difference detection signal.

1. Field of Invention
The present invention relates to technology for preventing a rise in the power supply voltage in a drive circuit for driving a motor.
2. Description of Related Art
Pulse width modulation (PWM) drive methods that control energizing the motor coil by controlling the on/off state of specific switching devices in the motor drive circuit are commonly used to drive brushless motors in AV equipment. U.S. Pat. No. 5,309,078 (corresponding to Japanese Unexamined Patent Appl. Pub. H5-211780, and E.P. Publication No. 525,999), for example, teaches a widely used synchronous rectifier PWM drive technology for achieving low loss and high efficiency PWM drive.
The PWM drive technology taught in U.S. Pat. No. 5,309,078 is described more fully below with reference to FIG. 12. FIG. 12 shows part of a three-phase motor system that is driven by a drive unit 305 composed of a three-phase bridge.
The voltage detected by detection resistance 324 and torque control signal VREF are input respectively to the inverted input node and the non-inverted input node of comparator 335. The torque control signal VREF controls the motor torque. The output node of the comparator 335 is connected to flip-flop circuit 336, and the inverted output of the flip-flop circuit 336 is input to two-phase non-superimposed clock generating unit 368. The two-phase non-superimposed clock generating unit 368 generates a pulse pair with a specific timing offset between the rising and failing edges in order to prevent current shoot-through in the drive unit 305. The output of the two-phase non-superimposed clock generating unit 368 is input to the energizing control unit 339 and synchronous rectifier control unit 340. The energizing control unit 339 supplies the drive signals that control the switching devices 325A, 325B, 325C to the high potential switching devices 325A, 325B, 325C, and the synchronous rectifier control unit 340 supplies the drive signals that control the low potential switching devices 326A, 326B, 326C to the low potential switching devices 326A, 326B, 326C.
Operation of this motor drive device is described next. The urging period is the period when drive power is supplied from the power source VM to the motor coils 310, 311, 312 by controlling the on state of the source phase (the phase in which motor current flows to the motor coil) high potential switching devices and the sink phase (the phase in which motor current flows from the motor coil) low potential switching devices. The regeneration period is the period in which the high potential switching devices that are on in the urging period are off. The drive unit 305 controls energizing the motor coils 310, 311, 312 through one cycle including an urging period and a regeneration period. The urging period and regeneration period include the offset timing generated by the two-phase non-superimposed clock generating unit.
For example, during the urging period node A is driven HIGH by high potential switching device 325A, node B is driven LOW by low potential switching device 326B, and node C is held in a high impedance state with both switching devices 325C and 326C off.
The motor current flowing through motor coils 310 and 311 between nodes A and B is converted to voltage by detection resistance 324. This voltage is compared by the comparator 335 with torque control signal VREF. If the voltage is greater than torque control signal VREF, the output of comparator 335 sets the flip-flop circuit 336 from which the inverted output is input to the two-phase non-superimposed clock generating unit 368. As a result, the output of the two-phase non-superimposed clock generating unit 368 is inverted, the energizing control unit 339 turns the switching device 325A on the high potential side of node A off, and synchronous rectifier control unit 340 turns the switching device 326A on the low potential side of node A on. At the same time the discharge circuit 341 releases switch 342 from specific voltage VS to start discharging. The discharge circuit 341 produces a time delay during which the high potential switching devices 325A, 325B, 325C are held off. When the capacitance voltage of the discharge circuit 341 becomes less than torque control signal VREF, the comparator 343 resets the flip-flop circuit 336, and again turns on the high potential switching device corresponding to the phase being driven.
As described above, if the low potential switching device 326A turns on when the high potential switching device 325A is off, the drive unit 305, and more particularly the motor coils 310 and 311, are shorted by two resistances, specifically the on resistors of low potential switching devices 326A and 326B. The motor current flows through a motor current path including motor coils 310 and 311 and switching devices 326A and 326B without passing any diodes. Using synchronous rectifier control can thus reduce the voltage drop produced in the current path of the motor current passing through motor coils 310 and 311 more than is possible with current regeneration using diodes. Low loss and high efficiency can thus be achieved.
Some problems with this related art are described below. More particularly, some problems with the current-controlled PWM drive method taught in U.S. Pat. No. 5,309,078 are described below with reference to FIG. 13 and FIG. 14. FIG. 13 shows the phase A portion of the drive unit 305, the phase A motor coil 310, and the detection resistance 324 shown in FIG. 12. Reference EA in FIG. 13 denotes a back electromotive force produced in the phase A motor coil proportionally to the rotational speed of the motor.
What happens when node A in FIG. 12 is driven HIGH by high potential switching device 325A, node B is driven low by low potential switching device 326B, switching devices 325C and 326C are off and node C is in a high impedance state, and torque control signal VREF is changed from a relatively high level (where back electromotive force EA is relatively high) to an extremely low level is considered below.
FIG. 14 is a timing chart describing the operation shown in FIG. 13. Periods T1 and T4 in FIG. 14 are the urging period in which drive power is supplied from the power source VM to the motor coil 310 through the phase A high potential switching device 325A, and periods T2 and T3 are the regeneration period in which motor current returns through the phase A low potential switching device 326A.
If torque control signal VREF falls sharply due to a reduce speed command, motor current IA1, which flows through phase A when the phase A high potential switching device is on, goes in a short time (period T1 in FIG. 14) to the maximum current level allowed by torque control signal VREF. As a result, the phase A high potential switching device goes off and the phase A low potential switching device goes on in a synchronous rectifier state, and motor current starts flowing as denoted by IA2 (in period T2 in FIG. 14). However, because the maximum current IP is low and the back electromotive force EA is high, the effect of the back electromotive force EA in the regeneration period causes the motor current to start flowing in the opposite direction, that is, in the direction of IA3 (period T3 in FIG. 14). The back electromotive force EA also causes the motor current IA3 to rise during the regeneration period, which is longer than the urging period due to the reduce speed command. As a result, after the next urging period starts, that is, when the phase A high potential switching device is on and the phase A low potential switching device is off, motor current IA4 flows back to the power source and causes the power supply voltage to rise (period T4 in FIG. 14).
A problem with the regeneration phase of the related art is that because motor current flows back to the power source after the next urging period starts, the power supply voltage rises and can lead to device damage. Reducing device size and cost is also difficult with the related art because a capacitance to improve the current sink capacity of the power supply, a zener diode for voltage clamping, or some other external protection device is required to prevent a rise in the power supply voltage.

Matsushita Electric Industrial Co., Ltd.


A power over Ethernet method includes: performing, by power sourcing equipment, a plurality of detections by using an Ethernet port, connected to an intermediate device, of the power sourcing equipment, where a quantity of detections performed by the power sourcing equipment is equal to a quantity of power supply ports of the intermediate device; and if at least one detection result of the plurality of detections is effective, sending, by the power sourcing equipment, a power supply indication to the intermediate device, and supplying power to the connection port. In this way, the power sourcing equipment can supply power across the intermediate device to a powered device connected to the intermediate device, and a power loss caused by voltage conversion is avoided.

A mobile terminal such as a smartphone or a portable computer may access the Internet by using a wireless local area network (WLAN). In some scenarios (such as a student dormitory, a hospital ward, and a hotel), if an access point (AP) is merely deployed in a public area, indoor signal quality is poor. However, if more APs are deployed, device management complexity is increased.
A distributed WLAN includes a central AP and a distributed AP. One central AP is connected to a plurality of distributed APs. The distributed WLAN can provide wider network coverage and simplify device management and configuration.
In a distributed WLAN in which a power over Ethernet (PoE) technology is used, as shown in FIG. 1, an Ethernet switch is used as power sourcing equipment (PSE) to supply power to a central AP. The central AP is a powered device (PD) of the Ethernet switch, and obtains electricity from the Ethernet switch. The central AP is also used as PSE to supply power to each distributed AP connected to a power supply port of the central AP. The distributed AP is used as a PD of the central AP, and obtains electricity from the central AP. After obtaining electricity from the Ethernet switch, the central AP converts the electricity into electricity that meets a voltage used by the central AP, to supply power to each component of the central AP. Then, the central AP converts electricity used by the central AP into a voltage that meets a PoE requirement, and then supplies power to the distributed AP. Consequently, an additional electricity loss is caused.

Power supply method, device, and power supply system


A testing apparatus and methods for use with a tensile testing machine for simulating thermal, acceleration, and ignition pressurization loads upon a grain support system of a solid rocket motor during ignition. The apparatus includes a pair of antisymmetrically disposed L-shaped test fixtures within which is attached a test specimen. The test specimen is configured to simulate two propellant grain support systems. The grain support systems in the test specimen are antisymmetrically disposed, thereby permitting two specimens to be tested simultaneously by the application of uniaxial tension to the apparatus.

1. The Field of the Invention
The present invention is related to an apparatus and methods for simulating thermal, acceleration, and ignition pressurization loads upon the grain support system of a solid rocket motor during ignition. More particularly, the present invention is related to an antisymmetric test device for use in applying uniaxial tension on an antisymmetric test specimen designed to simulate the grain support system of a solid rocket motor.
2. Technical Background
A typical solid rocket motor essentially consists of a steel casing filled with a solid propellant grain. A grain support system is utilized to affix the grain within the casing. A typical grain support system consists of a layer of insulation bonded between the propellant grain and the casing. The layer of insulation provides a surface to which the propellant grain may be bonded and assists in shielding the casing from the extreme heat generated when the propellant is ignited.
In the manufacture of the solid rocket motor, the layer of insulation is generally bonded to the rocket casing (or to a liner which in turn is bonded to the casing) through a vulcanization process. That is, the insulation is laid up in the case in a "green" state. As it cures, it bonds to the casing. The grain is then cast onto the insulation with the use of a mold to form an initial internal configuration in the propellant grain.
It will be appreciated that maintaining the integrity of the bonds between the insulation and the casing, and between the insulation and the propellant grain, during ignition of the solid rocket motor is critical to the success of the motor.
When a solid rocket motor is ignited, the bonds within the motor are subjected to extreme forces from a variety of sources. As the rocket accelerates, acceleration loads act upon the bonds. During acceleration, the thrust created by the burning propellant acts upon the head end of the motor. Thus, the grain support system holding the propellant within the motor must be sufficiently strong to prevent the unburned propellant from breaking away and falling out of the motor during acceleration. Of greater practical concern, however, the grain support system must also be sufficiently strong to prevent any significant deformation in the grain, as deformation in the propellant grain can adversely impact the firing characteristics of the motor.
Among the other loads acting on the grain support system are ignition pressurization loads. Ignition pressurization loads tend to expand the case, causing the case to move away from the propellant. In response to these and other loads which induce stress in the propellant grain, and generally tend to separate the propellant from the case, stress relief flaps have been incorporated into some solid rocket motors.
Stress-relief flaps essentially comprise a hinge near the head end of the motor between the case and the layer of insulation surrounding the propellant. Thus, when the forces tending to separate the insulation and propellant from the case are sufficiently strong, the flap will open by permitting pivoting about the hinge, thereby permitting limited separation of the case and the insulation while preserving the integrity of the bonds.
Stress-relief flaps are typically constructed of a moldable material having some insulating value. Such materials include Kevlar and polyisoprene. The flaps may be reinforced with long fibers extending along the entire length of the flap to prevent the flap from tearing. These stress-relief flaps are typically designed such that when they open, they do not induce high strains in the propellant at or near the base of the flap. The use of an appropriately designed flap can also reduce the amount of insulation required at the base of the flap, thereby permitting the use of more propellant and improving performance of the motor.
Thermal loads resulting from the unequal thermal expansion of the case and the propellant during ignition load the stress-relief flap in a manner similar to ignition pressurization loads. In a typical solid rocket motor, the thermal expansion of the propellant may be ten times the expansion of the case. By providing a stress-relief flap, a measured degree of separation of the grain and the case is permitted and the stress to the bonds and the remainder of the grain support system due to the thermal loads is relieved.
As can be appreciated from the foregoing, the continued improvement in the design of solid rocket motors requires testing and analysis to develop grain support systems which include improved bonds and which utilize bond reinforcement devices, such as stress-relief flaps, to increase the effective strength of the bonds. One of the principal methods of testing grain support systems is to test fire a solid rocket motor incorporating the system to be tested. Data obtained from the test can be utilized in determining how well the grain support system will perform under actual launch conditions.
One of the principal disadvantages of this testing method is its expense. For example, if it is desired to test propellant grain reinforcement systems in the solid rocket motors used on the space shuttle, the extreme expense in test firing such motors merely to test a wide variety of experimental designs obviously renders such an approach unfeasible.
Also, the nature of the data which can be obtained from such a test is limited. During a test firing it is difficult to monitor the exact load at which the bonds begin to fail. Such monitoring would be accomplished most effectively by visually monitoring the grain support system as the loads are applied. Obviously, this is not possible during the ignition of a rocket motor, even if the test is a static firing of the motor.
In response to the difficulties and expense of testing grain support systems through firing experimental rocket motors, other testing methods have been developed. One method which continues to be used extensively is finite element analysis. In this method, the reaction of bonds and bond-reinforcement devices to stresses are analytically predicted. A primary advantage to the use of finite element analysis is its low cost, as compared with physical testing through firing of the motor.
The use of finite element analysis, however, is limited in its ability to accurately predict the reaction of experimental materials. Finite element analysis is best suited for use when the physical properties of the materials being employed are well known. In the development of solid rocket motors, however, much of the experimental work is focused on employing materials whose physical properties vary. These materials include composite materials utilizing variations of fiber reinforcement. Such materials are not well suited to analysis using finite element methods.
Thus, it would be an advancement in the art to provide an apparatus and method for testing propellant grain support systems which can be effectively utilized to test materials about which physical properties may not be known.
It would be an additional advancement in the art to provide such an apparatus and method which could be used in the testing of propellant grain support systems which could provide a physical test without the extreme cost attendant in preparing a solid rocket motor according to the experimental design and firing the motor.
It would be a further advancement in the art if such an apparatus and method could be provided to test propellant grain support systems whereby bonds and bond reinforcement systems, such as stress-relief flaps, could be visually monitored during the test, thereby obtaining specific data on the location of debonding and deformation.
Such an apparatus and method are disclosed and claimed herein.

Antisymmetric grain support test device and methods