1. A semiconductor device, comprising:
a source electrode;
a drain electrode;
an organic semiconductor layer made of an organic semiconductor material;
a gate electrode that applies an electric field to the organic semiconductor layer;
a gate insulating layer that insulates the gate electrode from the organic semiconductor layer; and
a lower insulating layer,
the organic semiconductor layer being located between the gate insulating layer and the lower insulating layer, and the lower insulating layer being composed of a polymer having a fluorene skeleton,
the gate insulating layer directly contacting one of the source electrode and the drain electrode,
the gate insulating layer covering a side surface of the organic semiconductor layer,
the side surface crossing to a direction from the source electrode to the drain electrode, and
the polymer being obtained by copolymerizing a first polymerizable monomer, the first polymerizable monomer including the fluorene skeleton, and a second polymerizable monomer, the second polymerizable monomer including at least one of an epoxy group, an oxetane group, an acrylic acid group, and a methacrylic acid group; wherein
the first polymerizable monomer has a structure shown in Structural Formula 1, and the second polymerizable monomer has a structure shown in Structural Formula 2 or Structural Formula 3:
(wherein R1, R2, and R3 in above formulas respectively represent the following: all of R1s are same substituents and have a hydrogen atom or a structure shown in any of Formulas 4 to 8; at least two of R2s are same substituents and R2s have a hydrogen atom or a structure shown in any of Formulas 4 to 8; and at least three of R3s are same substituents and R3s have a hydrogen atom or a structure shown in any of Formulas 4 to 8):
2. The semiconductor device according to claim 1, wherein a main chain of the polymer includes an oxygen atom.
3. The semiconductor device according to claim 1, wherein the polymer has a polyester skeleton.
4. The semiconductor device according to claim 1, wherein the polymer includes a first structural portion derived from the first polymerizable monomer and a second structural portion derived from the second polymerizable monomer, and is 25 mol % to 75 mol % of the first structural portion.
5. The semiconductor device according to claim 1, wherein the organic semiconductor material of the organic semiconductor layer has crystallinity.
6. The semiconductor device according to claim 1, wherein the organic semiconductor layer is located between the lower insulating layer and the gate electrode.
7. The semiconductor device according to claim 1, wherein an average thickness of the lower insulating layer is 0.01 \u03bcm to 10 \u03bcm.
8. An electronic device, comprising the semiconductor device according to claim 1.
9. Electronic equipment, comprising the electronic device according to claim 8.
10. The semiconductor device according to claim 1, wherein the gate insulating layer is continuous and covers the organic semiconductor layer and portions of the source and drain electrodes.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A control system for controlling the movements of a plurality of mechanical units, wherein at least two of the mechanical units have been programmed to perform a task, wherein the movements of the mechanical units are coordinated, the control system comprising:
an automatic control configured to automatically control the movements of the mechanical units to perform the task in dependence on stored movement instructions for each of the mechanical units, and to execute the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;
a manual control configured to manually control the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and
an indicator configured to indicate whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.
2. The control system according to claim 1, wherein said indicator provides at least one of the following signals or a combination thereof: visual, acoustic, tactile.
3. The control system according to claim 1, wherein the indicator comprises at least one of a graphical or a text interface that displays which mechanical units, or parts thereof, are associated with one another with at least one of graphical symbols or text messages representing the plurality of mechanical units or parts thereof.
4. The control system according to claim 3, wherein the at least one of a graphical andor or a text interface is arranged to indicate information on how the, or each, mechanical unit, or part thereof, associated with said at least one mechanical unit, or part thereof, that is to be moved will move on movement of said at least one mechanical unit or part thereof.
5. The control system according to claim 1, wherein an indicator is arranged on each of the mechanical units or part thereof to display which mechanical units are associated with one another, either constantly or when such information is requested.
6. The control system according to claim 1, wherein the indicator is mounted on a stationary or portable programming unit.
7. The control system according to claim 1, further comprising:
a confirmation unit configured to confirm that an operator is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manual control.
8. The control system according to claim 7, further comprising:
a disengagement unit configured to disengage the manual control until the operator has confirmed that heshe is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manual control.
9. The control system according to claim 1, further comprising:
a disassociation unit configured to disassociate one or more of the mechanical units or parts thereof that are associated with the mechanical unit or part thereof that is to be moved from said at least one mechanical unit or part thereof that is to be moved.
10. The control system according to claim 1, further comprising:
an association unit configured to associate one or more of the mechanical units or part thereof to said at least one mechanical unit or part thereof that is to be moved.
11. The control system according to claim 7, wherein the confirmation unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.
12. The control system according to claim 1, wherein the manual control is portable.
13. The control system according to claim 1, wherein the manual control is located in the vicinity of the plurality of mechanical units.
14. The control system according to claim 1, wherein the manual control is located at a location remote to the plurality of mechanical units.
15. A method for moving a plurality of mechanical units using a manual control, wherein at least two of the mechanical units have been programmed to perform a task, wherein movements of the mechanical units are coordinated, the method comprising:
automatically controlling movements of the mechanical units to perform the task in dependence on stored movement instructions for each of the mechanical units;
executing the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;
manually controlling the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and
indicating whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.
16. The method according to claim 15, further comprising:
informing how the, or each, mechanical unit or part thereof associated with said at least one mechanical unit or part thereof that is to be moved will move on movement of said at least one mechanical unit or part thereof.
17. The method according to claim 15, further comprising:
an operator having to confirm that heshe is aware of which mechanical units or parts thereof are associated with said at least one mechanical unit or part thereof that is to be moved before the manually-operated control member is activated.
18. The method according to claim 17, wherein said confirmation is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or touching an icon on a touch screen.
19. A computer program product, comprising:
a non-transitory computer readable medium; and
computer program code recorded on the computer readable medium for making a computer or processor carry out a method comprising
automatically controlling movements of the mechanical units to perform a task in dependence on stored movement instructions for each of the mechanical units;
executing the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;
manually controlling the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and
indicating whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.
20. The computer program product according to claim 19, wherein the computer program code makes the computer or processor carry out the method further comprising
prompting an operator to do at least one of the following: select a mechanical unit or part thereof that is to be moved, associate or disassociate one or more other mechanical unit or part thereof withfrom the mechanical unit or part thereof to be moved; and
confirming the selection of mechanical units or parts thereof to be moved before the operator’s command is executed.
21. The control system according to claim 9, wherein the disassociation unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.
22. The control system according to claim 10, wherein the association unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.
23. The control system according to claim 1, wherein the mechanical units comprise robots and external axes.
24. The control system according to claim 1, wherein the manually-operated control member comprises a joy-stick or key panel.
25. The method according to claim 15, wherein the mechanical units comprise at least one of robots or external axes.
26. The method according to claim 15, wherein the manually-operated control member comprises a joy-stick or key panel.