1. An information communication system for use in a robot which has a movable portion, comprising a transmitting device and a receiving device:
the transmitting device including:
at least one sensor provide at the movable portion, which generates a sensor signal;
a signal processing unit which converts brightness signal which corresponds to an output level of the sensor signal, and color signal used for identifying the sensor; and
a light emitting unit which emits an optical signal having the color signal and the brightness signal, respectively, and a reference optical signal,
the receiving device including:
an imaging unit which images the optical signal and the reference optical signal emitted by the transmitting device;
an image processing unit which extracts the color signal and the brightness signal from image data generated by the imaging unit; and
an analyzing unit which analyzes the color signal and the brightness signal to output an information for identifying the sensor and the output level of the sensor signal.
2. The information communication system according to claim 1, wherein the light emitting unit includes:
a first light emitting unit provided for the movable portion, located near the sensor, and having an exposed light emitting portion which emits the optical signal including at least one of colors;
a second light emitting unit provided for the movable portion, located adjacent to the first light emitting unit, and emitting a reference light beam having predetermined color and brightness.
3. The system according to claim 2, wherein the optical signal emitted by the first light emitting unit have at least three colors which are one of: a transparent color; a single color; and a synthetic color of a number of colors.
4. The system according to claim 2, wherein before the transmitting device operates, the image processing unit calculates a relative level, used for eliminating adverse effects which an optical environment of the robot has on the optical signal, based on the optical signal and the reference optical signal, and corrects the image data generated by the imaging unit, based on the relative level.
5. The system according to claim 1, wherein a plurality of light emitting units, each of which is identical to the light emitting unit, are arranged near the sensor, such that at least one of the light emitting units is within a angle of view of the imaging unit when the movable portion is moved along with the sensor provided thereon.
6. The system according to claim 1, wherein the light emitting unit further includes:
a plurality of light emitting windows provided on the movable portion such that at least one of the light emitting windows is within an angle of view of the imaging unit when the movable portion is moved along with the sensor provided thereon;
a distributing unit which distributes the optical signal emitted from the light emitting unit; and
a light guide member which guides the optical signal distributed by the distributing unit to the light emitting windows.
7. The system according to claim 2, wherein the first light emitting unit emits optical signals of at least three colors based on the sensor signal individually or at a time, thereby outputting one of colored optical signal.
8. The system according to claim 7, wherein the first light emitting unit emits optical signals successively or at predetermined intervals.
9. The system according to claim 1, wherein the imaging unit uses a robot imaging unit provided for the robot and functioning as an eye of the robot when the robot is operated.
10. The system according to claim 2, wherein the first light emitting unit includes a plurality of light emitting portions that emit optical signals of different colors depending upon manners in which the movable portion is moved, and a change in the manners in which the movable portion is indicated by a change in the color of the optical signal.
11. The system according to claim 2, wherein the first light emitting unit emits the optical signal at predetermined intervals, and different pieces of information are indicated by how many times the first light emitting unit emits the optical signal within a unit time.
12. The system according to claim 2, wherein the first light emitting unit emits the optical signal at predetermined intervals, and different pieces of information are indicated by how long the predetermined intervals.
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 process for preparing a compound of formula (I):
38
wherein R1 is para-nitrobenzyl or allyl; X is halo;
comprising the steps of:
a) cyclizing a trimethylphosphinic compound of formula (IIIa)
39
wherein
R1 is para-nitrobenzyl or allyl;
R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl;
in a solvent;
to form a compound of formula (II)
40
wherein
R1 is para-nitrobenzyl or allyl;
R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl; and
b) reacting said compound of formula (II) with a Lewis acid of structure PX5 wherein X is a halo group.
2. A process according to claim 1, wherein said solvent is selected from the group consisting of toluene, xylene, tetrahydrofuran, methylene chloride and acetonitrile.
3. A process according to claim 1, wherein said acid is phosphorus pentachloride or phosphorus pentabromide; and wherein X is chloro or bromo.
4. A process according to claim 1, further comprising the step of preparing said compound of formula (IIa), by reacting a compound of formula (IIIb)
41
wherein said R1 is para-nitrobenzyl or allyl,
said R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl; and
said X is halo;
with trimethylphosphine, in a solvent and in the presence of a base.
5. A process according to claim 4, wherein said solvent is tetrahydrofuran, acetonitrile or methylene chloride.
6. A process according to claim 4, wherein said base is selected from the group consisting of imidazole, 2,6-lutidine, pyridine, N-methylmorpholine and sodium bicarbonate.
7. A process according to claim 4, further comprising the step of preparing said compound of formula (IIIb), by reacting a compound of formula (IIIc)
42
wherein said R1 is para-nitrobenzyl or allyl and said R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl; with a halogenating agent, in a solvent and in the presence of a base.
8. A process according to claim 7, wherein said halogenating agent is thionyl chloride, thionyl bromide, phosphorus trichloride or phosphorus tribromide; and said halo is chloro or bromo.
9. A process according to claim 7, wherein said base is selected from the group consisting of pyridine, 2,6-lutidine, N-methylmorpholine and imidazole.
10. A process according to claim 7, further comprising the step of preparing said compound of formula (IIIc), by reacting a compound of formula (V)
43
wherein said R1 is para-nitrobenzyl or allyl and said R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl;
with a compound of formula (IV)
44
wherein Y is a leaving group selected from the group consisting of bromo, chloro, fluoro, iodo and tosylate; in a solvent.
11. A process according to claim 10, wherein said Y is bromo or chloro.
12. A process according to claim 10 wherein said solvent is alcohol selected from the group consisting of methanol, ethanol and propanol; methylene chloride; acetone; dimethylformamide or mixtures thereof.
13. A process according to claim 10, further comprising the step of preparing said compound of formula (V) by reacting a compound of formula (VIa)
45
wherein R1 is para-nitrobenzyl or allyl and wherein R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl; with an acid in a solvent.
14. A process according to claim 13 wherein said acid is para-toluene sulfonic acid or methane sulfonic acid.
15. A process according to claim 13 wherein said solvent is methylene chloride; tetrahydrofuran, acetone or mixtures thereof.
16. A process according to claim 13 further comprising the step of preparing said compound of formula (VIa) by:
reacting a compound of formula (VIb)
46
wherein
R1 is para-nitrobenzyl or allyl;
R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl; with a reducing agent selected from the group consisting of sodium borohydride, sodium cyanoborohydride, borane and sodium triacetoxy borohydride; in a solvent.
17. A process according to claim 16 wherein said reducing agent is sodium triacetoxy borohydride.
18. A process according to claim 16 wherein said solvent is acetic acid, methylene chloride, tetrahydrofuran, isopropanol or mixtures thereof.
19. A process according to claim 13 further comprising the step of preparing said compound of formula (VIa) by reacting a compound of formula (XI)
47
wherein R is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl;
with a compound of formula (X)
48
wherein R1 is para-nitrobenzyl or allyl; in a solvent; in the presence of a base.
20. A process according to claim 16 further comprising the step of preparing said compound of formula (VIb) comprising reacting a compound of formula (VIII)
49
wherein
R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl;
L2 is a leaving group selected from the group consisting of halo, azide and C1-6alkoxy;
with a compound of formula (VII)
R1OH (VII)
wherein R1 is para-nitrobenzyl or allyl, in a solvent, in the presence of a base;
further comprising the step of preparing said compound of formula (VIII) by reacting a compound of formula (XI)
50
wherein R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10aryl C1-6alkyl and dithianyl; with a compound of formula (IX)
51
wherein each of said L1 and L2 is a leaving group selected from the group consisting of halo, azide and C1-6alkoxy; in a solvent, optionally in the presence of a base.
21. A process according to claim 16 further comprising the step of preparing said compound of formula (VIb) comprising reacting a compound of formula (VIc)
52
wherein
R1 is para-nitrobenzyl or allyl;
R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10arylC1-6alkyl and dithianyl;
R3 is hydrogen or C1-6alkyl; and
R4 is hydrogen or C1-6alkyl; with ozone, in a solvent.
22. A process according to claim 16 further comprising the step of preparing said compound of formula (VIb) comprising reacting a compound of formula (XI)
53
wherein R2 is selected from the group consisting of C1-6alkyl, C6-10aryl, C6-10aryl C1-6alkyl, and dithianyl; with a compound of formula (XII)
54
wherein
each of said L3 is halo;
R1 is para-nitrobenzyl or allyl;
in a solvent, in the presence of a base.
23. A process according to claim 20, wherein each of L1 and L2, wherever each of them occurs, is halo selected from the group consisting of bromo or chloro.
24. A process according to claim 21 wherein R3 is methyl and R4 is methyl.
25. A process according to any of claims 7, 19-20 or 22 wherein said solvent, wherever it occurs, is methylene chloride, tetrahydrofuran or mixtures thereof.
26. A process according to claim 21 wherein said solvent is methylene chloride, tetrahydrofuran, isopropanol or mixtures thereof.
27. A process according to any of claims 19-21 wherein said base, wherever it occurs, is selected from the group consisting of diisopropylamine, triethylamine, pyridine and 2,6-lutidine.
28. A process according to any of claims 1-27, wherein each of said R1, wherever it occurs, is para-nitrobenzyl.
29. A process according to any of claims 1-27, wherein each of said R1, wherever it occurs, is allyl.
30. A process according to any of claims 1-27, wherein each of said R2, wherever it occurs, is C6-10arylC1-6alkyl.
31. A process according to any of claims 1-27, wherein each of said R2, wherever it occurs, is benzyl.
32. A compound of formula (I)
55
wherein R1 is para-nitrobenzyl or allyl; and X is halo.
33. A compound of formula (II)
56
wherein R1 is para-nitrobenzyl or allyl; and R2 is (C6-C10)aryl(C1-6)alkyl.
34. A compound of formula (III)
57
wherein R1 is para-nitrobenzyl or allyl;
R2 is (C6-C10)aryl(C1-6)alkyl;
K is hydroxy, halo or P(CH3)3;
wherein the CK bond is a single bond when K is hydroxy or halo; and a double bond when K is P(CH3)3; and
wherein said compound of formula (III) is selected from the group consisting of compound of formulae (IIIa), (IIIb) and (IIIc):
58
35. A compound of formula (V)
59
wherein R1 is para-nitrobenzyl or allyl; and R2 is (C6-C10)aryl(C1-6)alkyl.
36. A compound of formula (VI)
60
wherein R1 is para-nitrobenzyl or allyl;
R2 is (C6-C10)aryl(C1-6)alkyl;
T is hydroxy or >O;
wherein the CT bond is a single bond when T is hydroxy; and a double bond when T is >O; and
wherein said compound of formula (VI) is selected from the group consisting of compound of formulae (VIa) and (VIb):
61
37. (CANCELLED)
38. (CANCELLED)
39. (CANCELLED)