\typeout{jrsj-k.sty; Ver. 1.a [25 December 1994]}
% Copyright 1994 - The Robotics Society of Japan 

%% BoldMath フォントの使用可否
¥newif¥ifBoldMath
    ¥BoldMathtrue
%   ¥BoldMathfalse

¥newif¥ifNTTFONT
¥@ifundefined{kanjiskip}{¥NTTFONTtrue}{¥NTTFONTfalse}

%% following three switches are for phototypesetting
¥newif¥ifphototype
    %¥phototypetrue  % for phototypesetting, using Shaken fonts
    %¥phototypefalse % for author, using min10, goth10, CM fonts
¥newif¥ifProof % for top and bottom adjustment
    %¥Prooftrue
     ¥Prooffalse
¥newif¥ifJIScodechange
    %¥JIScodechangetrue % chang some of JIS Code to Shaken Code
     ¥JIScodechangefalse

¥newread¥@phototype
¥openin¥@phototype jrsjkfnt.sty
¥ifeof¥@phototype
  ¥phototypefalse
  ¥Prooffalse
  ¥JIScodechangefalse
¥else¥closein¥@phototype
  ¥phototypetrue
¥fi

¥@ifundefined{inhibitglue}{¥let¥<=¥relax }{}

¥def¥@ptsize{0}
¥@namedef{ds@11pt}{¥def¥@ptsize{1}}
¥@namedef{ds@12pt}{¥def¥@ptsize{2}}
¥def¥ds@twoside{¥@twosidetrue ¥@mparswitchtrue}
¥def¥ds@draft{¥overfullrule 5pt}
¥@options

¥@twosidetrue
¥@mparswitchtrue

¥lineskip 1pt ¥normallineskip 1pt
¥def¥baselinestretch{1}

¥newdimen¥h
¥h=0.25mm
¥newdimen¥JQ % for SK fonts
¥JQ=0.7392507pt
¥newdimen¥Q % for SE fonts
¥Q=0.71144pt
¥newdimen¥@bs
¥@bs=20¥h

¥ifBoldMath
 ¥input jrsj-kbm.sty
¥else¥fi

%% definition of fonts
¥ifNTTFONT
%¥jfont¥fivmin = dm5 
¥jfont¥sixmin = dm6 
¥jfont¥sevmin = dm7 
¥jfont¥egtmin = dm8 
¥jfont¥ninmin = dm9 
¥jfont¥tenmin = dm10 
%  ¥jfont¥tenmin = dm10 scaled 1010 
¥jfont¥elvmin = dm10 scaled 1095 
%¥jfont¥fivgt = dg5 
¥jfont¥sixgt = dg6 
¥jfont¥sevgt = dg7 
¥jfont¥egtgt = dg8 
¥jfont¥ningt = dg9 
¥jfont¥tengt = dg10 
%  ¥jfont¥tengt = dg10 scaled 1010 
¥jfont¥elvgt = dg10 scaled 1095 %???
¥jfont¥twlgt = dg10 scaled 1440 
¥jfont¥svtngt= dg10 scaled 1728 

¥let¥cntrm¥relax
¥let¥cntit¥relax
¥let¥cntbf¥relax
%
% ¥jfont¥KFsec=dg10 %% at 14¥JQ
¥let¥KFsec=¥tengt %% at 14¥JQ
¥font¥EFsec=cmbx10
¥else
¥let¥dg¥gt
¥let¥dm¥mc
¥let¥pdg¥pgt
¥let¥pdm¥pmc
¥ifphototype
 ¥input jrsjkfnt.sty % "load Shaken fonts"
¥else
¥let¥cntrm¥relax
¥let¥cntit¥relax
¥let¥cntbf¥relax

%¥font¥fivmin = min5
¥font¥sixmin = min10 at 8¥JQ
¥font¥sevmin = min10 at 10¥JQ
¥font¥egtmin = min10 at 11¥JQ
¥font¥ninmin = min10 at 12¥JQ
¥font¥tenmin = min10 at 13¥JQ
¥font¥elvmin = min10 at 15¥JQ
¥font¥twlmin = min10 at 18¥JQ %???
¥font¥fivgt = goth5
¥font¥sixgt = goth6
¥font¥sevgt = goth10 at 10¥JQ %
¥font¥egtgt = goth10 at 11¥JQ %
¥font¥ningt = goth10 at 12¥JQ %
¥font¥tengt = goth10 at 13¥JQ %
¥font¥elvgt = goth10 at 15¥JQ %???
¥font¥twlgt = goth10 at 18¥JQ 
¥font¥svtngt= goth10 at 24¥JQ 
%
¥font¥KFsec=goth10 at 14¥JQ
¥font¥EFsec=cmbx10
¥fi
¥fi


¥newlength{¥Kanjiwidth}
¥settowidth{¥Kanjiwidth}{亜}

%% normalsize -->10pt 13Q 20H
¥def¥@normalsize{¥@setsize¥normalsize{20¥h}¥xpt¥@xpt
¥def¥tt{¥protect¥ptt¥tengt}
¥@ifundefined{jintercharskip}{¥kanjiskip=¥z@ plus .1zw minus .05zw}%
{¥jintercharskip=¥z@ plus .1¥Kanjiwidth minus .05¥Kanjiwidth}%
¥abovedisplayskip 9pt plus3pt minus4pt¥belowdisplayskip ¥abovedisplayskip
¥abovedisplayshortskip ¥z@ plus2.5pt¥belowdisplayshortskip 5pt plus2pt
minus2pt¥let¥@listi¥@listI} 
¥def¥normalsize{¥ifx¥@currsize¥normalsize ¥rm¥cntrm¥tenmin ¥else ¥@normalsize¥fi}
% small-->9pt 12Q 14H
¥def¥small{¥@setsize¥small{14¥h}¥ixpt¥@ixpt
¥def¥tt{¥protect¥ptt¥ningt}%
¥@ifundefined{jintercharskip}{¥kanjiskip=¥z@ plus .1zw minus .05zw}%
{¥jintercharskip=¥z@ plus .1¥Kanjiwidth minus .05¥Kanjiwidth}%
¥abovedisplayskip 8.5pt plus 3pt minus 4pt¥belowdisplayskip ¥abovedisplayskip
¥abovedisplayshortskip ¥z@ plus2pt¥belowdisplayshortskip 4pt plus2pt minus 2pt
¥def¥@listi{¥leftmargin¥leftmargini ¥topsep 4pt plus 2pt minus 2pt¥parsep 2pt
plus 1pt minus 1pt
¥itemsep ¥parsep}}
% footnotesize-->8pt 11Q 13H
¥def¥footnotesize{¥@setsize¥footnotesize{13¥h}¥viiipt¥@viiipt
¥def¥tt{¥protect¥ptt¥egtgt}%
¥@ifundefined{jintercharskip}{¥kanjiskip=¥z@ plus .1zw minus .05zw}%
{¥jintercharskip=¥z@ plus .1¥Kanjiwidth minus .05¥Kanjiwidth}%
¥abovedisplayskip 6pt plus 2pt minus 4pt¥belowdisplayskip ¥abovedisplayskip
¥abovedisplayshortskip ¥z@ plus 1pt¥belowdisplayshortskip 3pt plus 1pt minus
2pt
¥def¥@listi{¥leftmargin¥leftmargini ¥topsep 3pt plus 1pt minus 1pt¥parsep 2pt
plus 1pt minus 1pt
¥itemsep ¥parsep}}
¥def¥scriptsize{¥@setsize¥scriptsize{8pt}¥viipt¥@viipt}
¥def¥tiny{¥@setsize¥tiny{6pt}¥vipt¥@vipt}
¥def¥large{¥@setsize¥large{14pt}¥xipt¥@xipt}
¥def¥Large{¥@setsize¥Large{18pt}¥xivpt¥@xivpt}
¥def¥LARGE{¥@setsize¥LARGE{22pt}¥xviipt¥@xviipt}
¥def¥huge{¥@setsize¥huge{25pt}¥xxpt¥@xxpt}
¥def¥Huge{¥@setsize¥Huge{30pt}¥xxvpt¥@xxvpt}
¥normalsize 

¥marginparwidth 20mm
¥marginparsep 5mm

¥skip¥footins 1¥@bs plus 12pt minus 8pt 
¥intextsep 12pt plus 2pt minus 2pt
¥@maxsep 20pt
¥@dblmaxsep 20pt 
¥@fptop ¥z@ plus 1fil ¥@fpsep 8pt plus 2fil ¥@fpbot ¥z@ plus 1fil 
¥@dblfptop ¥z@ plus 1fil ¥@dblfpsep 8pt plus 2fil ¥@dblfpbot ¥z@ plus 1fil
¥marginparpush 5pt

¥def¥topfraction{1}
¥def¥bottomfraction{1}
¥def¥textfraction{0}
¥def¥floatpagefraction{.5}
¥def¥dbltopfraction{1}
¥def¥dblfloatpagefraction{.5}
¥setcounter{topnumber}{5}
¥setcounter{dbltopnumber}{3}
¥setcounter{bottomnumber}{3}
¥setcounter{totalnumber}{5}
¥floatsep 1.25¥@bs plus 1.5mm minus 2mm
¥dblfloatsep 1.25¥@bs plus 1.5mm minus 2mm
¥textfloatsep 1.25¥@bs plus 2mm minus 3mm
¥dbltextfloatsep 1.25¥@bs plus 2mm minus 3mm

¥partopsep 2pt plus 1pt minus 1pt 
¥@lowpenalty 51 ¥@medpenalty 151 ¥@highpenalty 301 
¥@beginparpenalty -¥@lowpenalty ¥@endparpenalty -¥@lowpenalty ¥@itempenalty
-¥@lowpenalty 

¥def¥part{¥par ¥addvspace{4ex} ¥@afterindentfalse ¥secdef¥@part¥@spart} 
¥def¥@part[#1]#2{¥ifnum ¥c@secnumdepth >¥m@ne ¥refstepcounter{part}
¥addcontentsline{toc}{part}{¥thepart ¥hspace{1em}#1}¥else
¥addcontentsline{toc}{part}{#1}¥fi { ¥parindent ¥z@ ¥raggedright 
 ¥ifnum ¥c@secnumdepth >¥m@ne ¥Large ¥bf Part ¥thepart ¥par ¥nobreak ¥fi ¥huge
¥bf #2¥markboth{}{}¥par } ¥nobreak ¥vskip 3ex ¥@afterheading } 
¥def¥@spart#1{{¥parindent ¥z@ ¥raggedright 
 ¥huge ¥bf 
 #1¥par} ¥nobreak ¥vskip 3ex ¥@afterheading } 

%% redefinition of "¥@startsection" is based on ipsjpaper.sty
%  ¥@startsection {NAME}{LEVEL}{INDENT}{BEFORESKIP}{AFTERSKIP}{STYLE}
¥def¥@startsection#1#2#3#4#5#6{¥if@noskipsec ¥leavevmode ¥fi
   ¥par ¥@tempskipa #4¥relax
   ¥@afterindenttrue
   ¥ifdim ¥@tempskipa <¥z@ ¥@tempskipa -¥@tempskipa ¥@afterindentfalse¥fi
   ¥if@nobreak ¥everypar{}¥else
     ¥addpenalty{¥@secpenalty}%
      ¥ifnum #2=¥@ne
        ¥vskip-¥prevdepth ¥prevdepth¥z@ ¥vskip¥@bs
        ¥advance¥@tempskipa-¥@bs ¥vspace*{¥@tempskipa}%
     ¥else¥addvspace{¥@tempskipa}¥fi¥fi ¥@ifstar
     {¥@ssect{#3}{#4}{#5}{#6}}{¥@dblarg{¥@sect{#1}{#2}{#3}{#4}{#5}{#6}}}}

¥newbox¥Secbox
¥newif¥ifjidori¥jidoritrue
%  ¥@sect{NAME}{LEVEL}{INDENT}{BEFORESKIP}{AFTERSKIP}{STYLE}[ARG1]{ARG2}
¥def¥@sect#1#2#3#4#5#6[#7]#8{%
¥ifnum #2>¥c@secnumdepth
 ¥def¥@svsec{}
¥else
 ¥refstepcounter{#1}¥edef¥@svsec{¥csname the#1¥endcsname 
  ¥ifnum #2=1{.}¥else¥fi¥hskip 1em}
¥fi
 ¥@tempskipa #5¥relax%
  ¥ifdim ¥@tempskipa>¥z@%
   ¥begingroup #6¥relax%
  ¥settowidth{¥Kanjiwidth}{亜}
  ¥setbox¥Secbox¥hbox{#8}%
  ¥ifnum #2=1 ¥jidoritrue¥else¥jidorifalse¥fi
   ¥ifjidori%
    ¥ifdim ¥wd¥Secbox < 98¥h%
      ¥ifnum #2=1%
       ¥centering
      ¥else
      ¥fi
     ¥@hangfrom{¥hskip #3¥relax¥@svsec}
      {¥interlinepenalty ¥@M¥kintou{7¥Kanjiwidth}{#8}¥par}%
    ¥else%
     ¥ifdim ¥wd¥Secbox < 322¥h%
       ¥ifnum #2=1%
        ¥centering
       ¥else
       ¥fi
      ¥@hangfrom{¥hskip #3¥relax¥@svsec}{¥interlinepenalty ¥@M #8¥par}%
     ¥else%
      ¥@hangfrom{¥hskip #3¥relax¥@svsec}{¥interlinepenalty ¥@M #8¥par}%
     ¥fi%
    ¥fi%
   ¥else% ¥jidorifalse
    ¥ifdim ¥wd¥Secbox < 322¥h%
      ¥ifnum #2=1%
       ¥centering
      ¥else
      ¥fi
     ¥@hangfrom{¥hskip #3¥relax¥@svsec}{¥interlinepenalty ¥@M #8¥par}%
    ¥else%
     ¥@hangfrom{¥hskip #3¥relax¥@svsec}{¥interlinepenalty ¥@M #8¥par}%
    ¥fi%
   ¥fi%
 ¥endgroup
  ¥csname #1mark¥endcsname{#7}
   ¥addcontentsline{toc}{#1}{¥ifnum #2>¥c@secnumdepth ¥else 
    ¥protect¥numberline{¥csname the#1¥endcsname}¥fi
      #7}¥else
        ¥def¥@svsechd{#6¥hskip #3¥@svsec #8¥csname #1mark¥endcsname{#7}
          ¥addcontentsline{toc}{#1}{¥ifnum #2>¥c@secnumdepth ¥else
            ¥protect¥numberline{¥csname the#1¥endcsname}¥fi #7}}¥fi
¥@xsect{#5}}

%  ¥@ssect{INDENT}{BEFORESKIP}{AFTERSKIP}{STYLE}{ARG} ==
¥def¥@ssect#1#2#3#4#5{¥@tempskipa #3¥relax
¥ifdim ¥@tempskipa>¥z@
 ¥begingroup #4
 ¥setbox¥Secbox¥hbox{#5}%
 ¥ifdim #1=¥z@ ¥jidoritrue¥else¥jidorifalse¥fi
 ¥ifjidori
  ¥ifdim ¥wd¥Secbox < 98¥h
    ¥ifdim #1=¥z@
     ¥centering
    ¥else
    ¥fi
   ¥@hangfrom{¥hskip #1}{¥interlinepenalty ¥@M¥kintou{7¥Kanjiwidth}{#5}¥par}
  ¥else
   ¥ifdim ¥wd¥Secbox < 350¥h
     ¥ifdim #1=¥z@
       ¥centering
     ¥else
     ¥fi
    ¥@hangfrom{¥hskip #1}{¥interlinepenalty ¥@M #5¥par}
   ¥else
    ¥@hangfrom{¥hskip #1}{¥interlinepenalty ¥@M #5¥par}
   ¥fi
  ¥fi
 ¥else
  ¥ifdim ¥wd¥Secbox < 350¥h
    ¥ifdim #1=¥z@
     ¥centering
    ¥else
    ¥fi
   ¥@hangfrom{¥hskip #1}{¥interlinepenalty ¥@M #5¥par}
  ¥else
   ¥@hangfrom{¥hskip #1}{¥interlinepenalty ¥@M #5¥par}
  ¥fi
 ¥fi
 ¥endgroup
¥else 
 ¥def¥@svsechd{#4¥hskip #1¥relax #5}
¥fi
¥@xsect{#3}}

¥def¥section{¥@startsection {section}{1}{¥z@}{.5¥baselineskip plus ¥z@ minus 
 ¥z@}{.5¥baselineskip plus ¥z@}{¥normalsize¥bf¥KFsec¥EFsec}}
¥def¥subsection{¥@startsection{subsection}{2}{1¥Kanjiwidth}{0.001¥baselineskip plus ¥z@ minus 
 ¥z@}{0.001¥baselineskip plus ¥z@}{¥normalsize¥bf¥tengt¥cntbf}}
¥def¥subsubsection{¥@startsection{subsubsection}{3}{1¥Kanjiwidth}{0.001¥baselineskip plus 
¥z@ minus ¥z@}{0.001¥baselineskip plus ¥z@}{¥normalsize¥bf¥tengt¥cntbf}}
¥def¥paragraph{¥@startsection
 {paragraph}{4}{¥z@}{0.001¥baselineskip plus 1mm}{0.001¥baselineskip plus 1mm}
 {¥normalsize¥bf¥tengt¥cntbf}}
¥def¥subparagraph{¥@startsection
 {subparagraph}{4}{¥parindent}{0.001¥baselineskip plus 1mm}{0.001¥baselineskip plus 1mm}
 {¥normalsize¥bf¥tengt¥cntbf}}

¥setcounter{secnumdepth}{3}

¥def¥appendix{¥par
 ¥setcounter{section}{0}
 ¥setcounter{subsection}{0}
 ¥def¥thesection{¥Alph{section}}}

%% itemize
¥def¥itemize{¥ifnum ¥@itemdepth >3 ¥@toodeep¥else ¥advance¥@itemdepth ¥@ne
¥edef¥@itemitem{labelitem¥romannumeral¥the¥@itemdepth}%
¥list{¥csname¥@itemitem¥endcsname}
{¥def¥makelabel##1{¥hss¥llap{##1}}¥settowidth{¥Kanjiwidth}{亜}
¥leftmargin=2¥Kanjiwidth}¥fi}
¥let¥enditemize =¥endlist

%% ¥enumerate
¥def¥enumerate{¥ifnum ¥@enumdepth >3 ¥@toodeep¥else
  ¥advance¥@enumdepth ¥@ne 
  ¥edef¥@enumctr{enum¥romannumeral¥the¥@enumdepth}
  ¥list{¥csname label¥@enumctr¥endcsname}{¥usecounter{¥@enumctr}
  ¥settowidth{¥Kanjiwidth}{亜}
  ¥ifNTTFONT
  ¥def¥makelabel##1{¥hbox to 2¥Kanjiwidth{¥hss##1¥hss}}¥else
  ¥def¥makelabel##1{¥hss¥llap{##1}}¥fi
  ¥leftmargin=2¥Kanjiwidth}¥fi}
¥let¥endenumerate =¥endlist

¥leftmargini 2¥Kanjiwidth
¥leftmarginii 2¥Kanjiwidth 
¥leftmarginiii 2¥Kanjiwidth 
¥leftmarginiv 2¥Kanjiwidth 
¥leftmarginv 2¥Kanjiwidth
¥leftmarginvi 2¥Kanjiwidth
¥leftmargin¥leftmargini
¥labelsep 0.25¥Kanjiwidth
¥labelwidth¥leftmargini¥advance¥labelwidth-¥labelsep
¥def¥@listI{¥leftmargin¥leftmargini ¥parsep ¥z@ plus 1pt minus 1pt¥topsep ¥z@
plus 1pt minus 1pt¥itemsep ¥z@ plus 1pt minus 1pt}
¥let¥@listi¥@listI
¥@listi 
¥def¥@listii{¥leftmargin¥leftmarginii
 ¥labelwidth¥leftmarginii¥advance¥labelwidth-¥labelsep
 ¥topsep ¥z@ plus 1pt minus 1pt
 ¥parsep ¥z@ plus 1pt minus 1pt
 ¥itemsep ¥parsep}
¥def¥@listiii{¥leftmargin¥leftmarginiii
 ¥labelwidth¥leftmarginiii¥advance¥labelwidth-¥labelsep
 ¥topsep ¥z@ plus 1pt minus 1pt 
 ¥parsep ¥z@ ¥partopsep ¥z@ plus ¥z@ minus 1pt
 ¥itemsep ¥topsep}
¥def¥@listiv{¥leftmargin¥leftmarginiv
 ¥labelwidth¥leftmarginiv¥advance¥labelwidth-¥labelsep}
¥def¥@listv{¥leftmargin¥leftmarginv
 ¥labelwidth¥leftmarginv¥advance¥labelwidth-¥labelsep}
¥def¥@listvi{¥leftmargin¥leftmarginvi
 ¥labelwidth¥leftmarginvi¥advance¥labelwidth-¥labelsep}

¥ifNTTFONT
¥def¥labelenumi{（¥theenumi ）}¥else
¥def¥labelenumi{¥<（¥theenumi ）¥<}¥fi
¥def¥theenumi{¥arabic{enumi}} 
¥ifNTTFONT
¥def¥labelenumii{（¥theenumii ）}¥else
¥def¥labelenumii{¥<（¥theenumii ）¥<}¥fi
¥def¥theenumii{¥alph{enumii}}
¥def¥p@enumii{¥theenumi}
¥def¥labelenumiii{¥theenumiii.}
¥def¥theenumiii{¥roman{enumiii}}
¥def¥p@enumiii{¥theenumi(¥theenumii)}
¥def¥labelenumiv{¥theenumiv.}
¥def¥theenumiv{¥Alph{enumiv}} 
¥def¥p@enumiv{¥p@enumiii¥theenumiii}

¥def¥labelitemi{$¥bullet$}
¥def¥labelitemii{¥bf --}
¥def¥labelitemiii{$¥ast$}
¥def¥labelitemiv{$¥cdot$}

¥def¥verse{¥let¥¥=¥@centercr 
 ¥list{}{¥itemsep¥z@ ¥itemindent -1.5em¥listparindent ¥itemindent 
 ¥rightmargin¥leftmargin¥advance¥leftmargin 1.5em}¥item[]}
¥let¥endverse¥endlist
¥def¥quotation{¥list{}{¥listparindent 1.5em
 ¥itemindent¥listparindent
 ¥rightmargin¥leftmargin ¥parsep ¥z@ plus 1pt}¥item[]}
¥let¥endquotation=¥endlist
¥def¥quote{¥list{}{¥rightmargin¥leftmargin}¥item[]}
¥let¥endquote=¥endlist

¥def¥descriptionlabel#1{¥hspace¥labelsep¥bf¥cntbf #1}
¥def¥description{¥list{}{¥labelwidth¥z@ ¥itemindent-¥leftmargin
 ¥let¥makelabel¥descriptionlabel}}
¥let¥enddescription¥endlist

¥def¥theequation{¥arabic{equation}}

¥def¥titlepage{¥@restonecolfalse¥if@twocolumn¥@restonecoltrue¥onecolumn
 ¥else ¥newpage ¥fi ¥thispagestyle{empty}¥c@page¥z@}
¥def¥endtitlepage{¥if@restonecol¥twocolumn ¥else ¥newpage ¥fi}

¥arraycolsep 5pt ¥tabcolsep 0.5¥Kanjiwidth ¥arrayrulewidth .1mm ¥doublerulesep 2pt 
¥tabbingsep ¥labelsep 

¥skip¥@mpfootins = ¥skip¥footins

¥newcounter{part}
¥newcounter {section}
¥newcounter {subsection}[section]
¥newcounter {subsubsection}[subsection]
¥newcounter {paragraph}[subsubsection]
¥newcounter {subparagraph}[paragraph]

¥def¥thepart{¥Roman{part}}
¥def¥thesection{¥arabic{section}}
¥def¥thesubsection{¥thesection.¥,{¥arabic{subsection}}}
¥def¥thesubsubsection{¥thesubsection.¥,¥arabic{subsubsection}}
¥def¥theparagraph{¥thesubsubsection.¥,¥arabic{paragraph}}
¥def¥thesubparagraph{¥theparagraph.¥,¥arabic{subparagraph}}

¥def¥@pnumwidth{1.55em}
¥def¥@tocrmarg {2.55em}
¥def¥@dotsep{4.5}
¥setcounter{tocdepth}{3}

¥def¥tableofcontents{¥section*{Contents¥@mkboth{CONTENTS}{CONTENTS}}
 ¥@starttoc{toc}}
¥def¥l@part#1#2{¥addpenalty{¥@secpenalty}
 ¥addvspace{2.25em plus 1pt} ¥begingroup
 ¥@tempdima 3em ¥parindent ¥z@ ¥rightskip ¥@pnumwidth ¥parfillskip
-¥@pnumwidth 
 {¥large ¥bf ¥leavevmode #1¥hfil ¥hbox to¥@pnumwidth{¥hss #2}}¥par
 ¥nobreak ¥endgroup}
¥def¥l@section#1#2{¥addpenalty{¥@secpenalty} ¥addvspace{1.0em plus 1pt}
¥@tempdima 1.5em ¥begingroup
 ¥parindent ¥z@ ¥rightskip ¥@pnumwidth 
 ¥parfillskip -¥@pnumwidth 
 ¥bf ¥leavevmode ¥advance¥leftskip¥@tempdima ¥hskip -¥leftskip #1¥nobreak¥hfil
¥nobreak¥hbox to¥@pnumwidth{¥hss #2}¥par
 ¥endgroup}
 ¥def¥l@subsection{¥@dottedtocline{2}{1.5em}{2.3em}}
¥def¥l@subsubsection{¥@dottedtocline{3}{3.8em}{3.2em}}
¥def¥l@paragraph{¥@dottedtocline{4}{7.0em}{4.1em}}
¥def¥l@subparagraph{¥@dottedtocline{5}{10em}{5em}}
¥def¥listoffigures{¥section*{List of Figures¥@mkboth
 {LIST OF FIGURES}{LIST OF FIGURES}}¥@starttoc{lof}}
¥def¥l@figure{¥@dottedtocline{1}{1.5em}{2.3em}}
¥def¥listoftables{¥section*{List of Tables¥@mkboth
 {LIST OF TABLES}{LIST OF TABLES}}¥@starttoc{lot}}
¥let¥l@table¥l@figure

%% redefinition of thebibliography 
¥def¥thebibliography#1{¥jidorifalse
¥section*{¥small¥bf¥ningt¥cntbf 参¥hskip1¥Kanjiwidth 考
     ¥hskip1¥Kanjiwidth 文¥hskip1¥Kanjiwidth 献}
 ¥list{[¥arabic{enumi}]}{¥settowidth¥labelwidth{[#1]}¥leftmargin=2.5¥Kanjiwidth
%%¥leftmargin¥labelwidth
%%¥advance¥leftmargin¥labelsep
 ¥labelsep=0.5¥Kanjiwidth
 ¥usecounter{enumi}}
 ¥itemsep=¥z@¥parskip ¥z@
 ¥scriptsize¥rm¥sevmin¥cntrm¥baselineskip=14¥h
 ¥def¥newblock{¥hskip .11em plus .33em minus .07em}
 ¥sloppy¥clubpenalty4000¥widowpenalty4000
 ¥sfcode`¥.=1000¥relax}
¥let¥endthebibliography=¥endlist

¥newif¥if@restonecol
¥def¥theindex{¥@restonecoltrue¥if@twocolumn¥@restonecolfalse¥fi
¥columnseprule ¥z@
¥columnsep 35pt¥twocolumn[¥section*{Index}]
 ¥@mkboth{INDEX}{INDEX}¥thispagestyle{plain}¥parindent¥z@
 ¥parskip¥z@ plus .3pt¥relax¥let¥item¥@idxitem}
¥def¥@idxitem{¥par¥hangindent 40pt}
¥def¥subitem{¥par¥hangindent 40pt ¥hspace*{20pt}}
¥def¥subsubitem{¥par¥hangindent 40pt ¥hspace*{30pt}}
¥def¥endtheindex{¥if@restonecol¥onecolumn¥else¥clearpage¥fi}
¥def¥indexspace{¥par ¥vskip 10pt plus 5pt minus 3pt¥relax}

%% redifinition of footnote & fnsymbol
¥def¥footnoterule{¥kern-3¥p@ 
 ¥hrule width 1¥columnwidth 
 ¥kern 2.6¥p@}
¥long¥def¥@makefntext#1{¥footnotesize¥rm¥egtmin¥cntrm
¥everypar={¥hangafter=1 ¥hangindent=2¥Kanjiwidth}
¥parindent 2¥Kanjiwidth
¥noindent¥hbox to 2¥Kanjiwidth{¥hss $^{¥@thefnmark}$}#1}
¥@addtoreset{footnote}{page}% reset footnote counter every page

% Center env. without additional vertical glue
¥def¥Center{¥itemsep¥z@¥topsep¥z@¥parsep¥z@¥trivlist¥Centering¥item[]}
¥def¥Centering{¥let¥¥=¥@centercr¥rightskip¥@flushglue¥leftskip¥@flushglue
¥parindent¥z@¥parfillskip¥z@}
¥let¥endCenter=¥endtrivlist

¥def¥HANG#1#2{¥hangafter=#2¥hangindent=#1¥relax}
%% redefinition of caption in figure and table
¥newbox¥@capnumbox
¥newdimen¥@capwidth
¥newdimen¥@abovecaptionskip
¥newdimen¥@belowcaptionskip
¥long¥def¥@makecaption#1#2{{¥small¥rm¥ninmin¥cntrm
 ¥vskip¥@abovecaptionskip¥baselineskip 14¥h
 ¥@capwidth=¥textwidth
 ¥divide ¥@capwidth by 3 ¥multiply ¥@capwidth by 2
 ¥setbox¥@capnumbox¥hbox{¥small¥bf¥ningt¥cntbf #1¥hskip1¥Kanjiwidth¥hbox{}}
 ¥ifdim ¥hsize > ¥@capwidth% doublefoat
 ¥setbox¥@tempboxa¥hbox{{¥small¥bf¥ningt¥cntbf #1}¥hskip1¥Kanjiwidth #2}
 ¥ifdim ¥wd¥@tempboxa >¥@capwidth
¥begin{center}
¥begin{minipage}[t]{¥@capwidth}
¥HANG{¥wd¥@capnumbox}{1}¥noindent¥box¥@capnumbox¥kern¥z@ #2¥par
¥end{minipage}
¥end{center}
 ¥else ¥hbox to¥hsize{¥hfil¥box¥@tempboxa¥hfil}
 ¥fi
 ¥else% sigle float
 ¥setbox¥@tempboxa¥hbox{{¥small¥bf¥ningt¥cntbf #1}¥hskip1¥Kanjiwidth #2}
 ¥ifdim ¥wd¥@tempboxa >¥hsize ¥HANG{¥wd¥@capnumbox}{1}
¥makebox[¥wd¥@capnumbox][l]{{¥small¥bf¥ningt¥cntbf #1}¥hskip1¥Kanjiwidth}#2¥par
 ¥else ¥hbox to¥hsize{¥hfil¥box¥@tempboxa¥hfil}
 ¥fi¥fi}¥vspace{¥@belowcaptionskip}}

%% based on macro defined by styuse.sty
¥newsavebox{¥@parc@ption}
¥def¥parcaption#1{¥settowidth{¥Kanjiwidth}{亜}%
    ¥sbox{¥@parc@ption}{¥shortstack[l]{#1}}%
    ¥setbox¥@tempboxa¥hbox{¥csname fnum@¥@captype¥endcsname¥hskip1¥Kanjiwidth}%
    ¥@tempdima¥columnwidth ¥advance¥@tempdima-¥wd¥@tempboxa
    ¥@tempdimb 1¥@tempdima %<-- maximum length is set here
    ¥ifdim¥wd¥@parc@ption>¥@tempdimb ¥@tempdima¥@tempdimb
     ¥else¥@tempdima¥wd¥@parc@ption¥fi
    ¥sbox{¥@tempboxa}{¥parbox[t]{¥@tempdima}{#1}}%
    ¥caption{¥usebox{¥@tempboxa}}¥vskip3¥h}

¥def¥fnum@figure{図¥thefigure}
¥def¥fnum@table{表¥thetable}
¥def¥tableenv{¥small¥rm¥ninmin¥cntrm¥let¥center=¥Center}

¥newcounter{figure}
¥def¥thefigure{¥@arabic¥c@figure}
¥def¥fps@figure{tbp}
¥def¥ftype@figure{1}
¥def¥ext@figure{lof}
¥def¥figure{¥bgroup¥tableenv
¥@abovecaptionskip=10pt¥@belowcaptionskip=¥z@¥@float{figure}}
¥def¥endfigure{¥end@float¥egroup}
%¥let¥endfigure¥end@float
¥@namedef{figure*}{¥bgroup¥tableenv%
¥@abovecaptionskip=10pt¥@belowcaptionskip=¥z@¥@dblfloat{figure}}
¥@namedef{endfigure*}{¥end@dblfloat¥egroup}

¥newcounter{table}
¥def¥thetable{¥@arabic¥c@table}
¥def¥fps@table{tbp}
¥def¥ftype@table{2}
¥def¥ext@table{lot}
¥def¥table{¥bgroup¥tableenv%
¥@abovecaptionskip=¥z@¥@belowcaptionskip=5pt¥@float{table}}
¥def¥endtable{¥end@float¥egroup}
%¥let¥endtable¥end@float
¥@namedef{table*}{¥bgroup¥tableenv¥@abovecaptionskip=¥z@¥@belowcaptionskip=5pt%
¥@dblfloat{table}}
¥@namedef{endtable*}{¥end@dblfloat¥egroup}

¥def¥thefootnote{¥fnsymbol{footnote}}
¥def¥@fnsymbol#1{¥ifcase#1 ¥or ¥dagger¥or ¥dagger¥dagger¥or 
   ¥dagger¥dagger¥dagger¥or ¥ddagger¥or ¥ddagger¥ddagger¥or 
   ¥ddagger¥ddagger¥ddagger¥or *¥or **¥or *** ¥else¥@ctrerr¥fi¥relax}

%% redefinition of maketitle
¥def¥maketitle{¥par
 ¥begingroup
 ¥def¥@makefnmark{¥hbox{$^{¥@thefnmark}$}}
 ¥if@twocolumn 
 ¥twocolumn[¥@maketitle]
 ¥else ¥newpage
 ¥global¥@topnum¥z@ ¥@maketitle ¥fi
 ¥thispagestyle{jrsj}
 ¥@received
 ¥@keyword
    ¥ifnum¥thenumberofthanks=¥@ne
    ¥def¥@fnsymbol##1{¥ifcase##1 ¥or *¥else¥@ctrerr¥fi¥relax}
    ¥else
    ¥def¥@fnsymbol##1{¥ifcase##1¥or *1 ¥or *2 ¥or *3 ¥or *4 ¥or *5 
    ¥or *6 ¥or *7 ¥or *8 ¥or *9 ¥else¥@ctrerr¥fi¥relax}
    ¥fi
 ¥@jthanks
    ¥ifnum¥thenumberofethanks=¥@ne
    ¥def¥@fnsymbol##1{¥ifcase##1 ¥or *¥else¥@ctrerr¥fi¥relax}
    ¥else
    ¥def¥@fnsymbol##1{¥ifcase##1¥or *1 ¥or *2 ¥or *3 ¥or *4 ¥or *5 
    ¥or *6 ¥or *7 ¥or *8 ¥or *9 ¥else¥@ctrerr¥fi¥relax}
    ¥fi
 ¥@ethanks
 ¥endgroup
 ¥let¥maketitle¥relax
 ¥let¥@maketitle¥relax
 ¥gdef¥@received{}
 ¥gdef¥@keyword{}
 ¥gdef¥@jthanks{}¥gdef¥@ethanks{}
 ¥gdef¥@author{}¥gdef¥@eauthor{}¥gdef¥@title{}
 ¥let¥thanks¥relax
 ¥normalsize
}

¥def¥@maketitle{{¥newpage
¥null
¥linethickness{0.1mm}
¥vskip 1mm
¥fboxrule=.1mm¥fboxsep=.3mm
¥fbox{¥fboxrule=.4mm¥fbox{¥hbox to 16mm{¥hss
¥Large¥bf¥twlgt¥cntbf¥kintou{13.5mm}{¥@Type}¥rule[-.9mm]{0mm}{4.75mm}¥hss}}}%
¥leaders¥hrule height1.8mm depth-1.5mm¥hfill¥mbox{}¥par¥vskip 2mm
¥vbox to 38.5mm{%
%% Beginning of title
{¥LARGE¥bf¥svtngt¥cntbf¥settowidth{¥Kanjiwidth}{亜}%
¥hspace*{2¥Kanjiwidth}¥parbox[t]{27.25¥Kanjiwidth}{¥@title}¥par¥vskip2mm
{¥small¥rm¥cntrm
¥hspace*{2¥Kanjiwidth}¥parbox[t]{27.25¥Kanjiwidth}{¥@etitle}}
}¥par¥vss
%% Beginning of Jauthor
{¥large¥rm¥elvmin¥cntrm
¥setbox¥@authorbox¥hbox{%
%¥let¥thanks=¥relax
¥@For¥memlist:=¥@author¥do{%
¥def¥thanks##1##2{¥stepcounter{numberofthanks}}%
¥memlist¥refstepcounter{member}}
}
 ¥ifnum¥thenumberofthanks=¥@ne
  ¥def¥@fnsymbol##1{¥ifcase##1 ¥or *
  ¥else¥@ctrerr¥fi¥relax}
 ¥else
  ¥def¥@fnsymbol##1{¥ifcase##1¥or *1 ¥or *2 ¥or *3 ¥or *4 ¥or *5 
  ¥or *6 ¥or *7 ¥or *8 ¥or *9 ¥else¥@ctrerr¥fi¥relax}
 ¥fi
¥setcounter{numberofmember}{¥themember}%get number of members
¥setcounter{member}{0}%reset
¥tabcolsep=¥z@
¥hfill
¥begin{tabular}[t]{rp{2.5mm}l}
 ¥@For¥memlist:=¥@author¥do{%
 ¥memlist¥stepcounter{member}%
 ¥ifnum¥thecthanks=¥@ne¥jthanks{¥@thanks}¥else¥relax¥fi%
  ¥ifnum¥thenumberofmember=1¥relax%
  ¥else% (case >1)
   ¥ifnum¥themember=¥thenumberofmember
   ¥else%
    ¥hskip3.75mm
   ¥fi
  ¥fi
¥stepcounter{cthanks}%
}%
 & & ¥@Jlongaffiliate
{¥scriptsize¥rm¥sevmin¥cntrm 
¥@affiliate
}%
¥end{tabular}%
}
¥vskip-1mm
%% Beginning of Eauthor
¥setcounter{footnote}{0}
¥setcounter{member}{0}
¥setcounter{numberofmember}{0}
¥setcounter{cthanks}{0}
¥def¥@affiliate{}
{¥footnotesize¥rm¥cntrm
¥setbox¥@eauthorbox¥hbox{%
%¥let¥thanks=¥relax
¥@For¥memlist:=¥@eauthor¥do{%
¥def¥thanks##1##2{¥stepcounter{numberofethanks}}%
¥memlist¥refstepcounter{member}}
}
 ¥ifnum¥thenumberofethanks=¥@ne
  ¥def¥@fnsymbol##1{¥ifcase##1 ¥or *
  ¥else¥@ctrerr¥fi¥relax}
 ¥else
  ¥def¥@fnsymbol##1{¥ifcase##1¥or *1 ¥or *2 ¥or *3 ¥or *4 ¥or *5 
  ¥or *6 ¥or *7 ¥or *8 ¥or *9 ¥else¥@ctrerr¥fi¥relax}
 ¥fi
¥setcounter{numberofmember}{¥themember}%get number of members
¥setcounter{member}{0}%reset
¥tabcolsep=¥z@
¥hfill
¥begin{tabular}[t]{rp{2.5mm}l}
¥setcounter{footnote}{0}
 ¥@For¥memlist:=¥@eauthor¥do{%
 ¥memlist¥stepcounter{member}%
 ¥ifnum¥thecthanks=¥@ne¥ethanks{¥@thanks}¥else¥relax¥fi%
  ¥ifnum¥thenumberofmember=1¥relax%
  ¥else% (case 2)
   ¥ifnum¥thenumberofmember=2
    ¥ifnum¥themember=1
     {¥it¥cntit ¥ and¥/}¥ 
     ¥else
     ¥fi
   ¥else% (case 3,4,5,...)
    ¥ifnum¥themember=¥thenumberofmember¥relax%
    ¥else%
     ¥setcounter{secondfromlast}{¥thenumberofmember}%
     ¥advance¥value{secondfromlast} by -1
     ¥ifnum¥themember=¥thesecondfromlast%
     {¥it¥cntit ¥ and¥/}¥ 
     ¥else%
     ,¥ 
     ¥fi
    ¥fi
   ¥fi
  ¥fi
¥stepcounter{cthanks}%
}%
 & & ¥@Elongaffiliate
{¥tiny¥rm¥cntrm
¥@affiliate
}%
¥end{tabular}%
}
¥vskip3mm
¥hrule height 0.1mm
}
¥vskip 1¥@bs
¥smallskip
%¥vspace{¥@ADJ}
}}

%¥def¥ADJ#1{¥gdef¥@ADJ{#1}}
%¥def¥@ADJ{}
%¥ADJ{0mm}

¥def¥Type#1{¥gdef¥@Type{#1}}
¥def¥@Type{}

¥def¥title#1{¥gdef¥@title{#1}¥gdef¥@TITLE{#1}}
¥def¥etitle#1{¥gdef¥@etitle{#1}}
¥def¥@etitle{}
¥title{}
¥author{}

¥def¥and{}
¥def¥@For#1:=#2¥do#3{¥edef¥@fortmp{#2}¥ifx¥@fortmp¥@empty¥else%
    ¥expandafter¥@Forloop#2¥and¥@nil¥and¥@nil¥@@#1{#3}¥fi}

¥def¥@Forloop#1¥and#2¥and#3¥@@#4#5{¥def#4{#1}¥ifx#4¥@nnil¥else%
       #5¥def#4{#2}¥ifx#4¥@nnil¥else#5¥@iForloop#3¥@@#4{#5}¥fi¥fi}

¥def¥@iForloop#1¥and#2¥@@#3#4{¥def#3{#1}¥ifx #3¥@nnil%
       ¥let¥@nextwhile=¥@fornoop%
       ¥else#4¥relax¥let¥@nextwhile=¥@iForloop¥fi¥@nextwhile#2¥@@#3{#4}}

¥newbox¥@authorbox
¥newbox¥@eauthorbox

¥newcounter{member}
¥newcounter{numberofmember}
¥newcounter{secondfromlast}

¥newcounter{cthanks}
¥newcounter{numberofthanks}
¥newcounter{numberofethanks}

¥def¥eauthor#1{¥gdef¥@eauthor{#1}}
¥def¥@eauthor{}

¥def¥thanks#1#2{¥setcounter{cthanks}{1}%
 ¥xdef¥@affiliate{¥@affiliate{%
  ¥ifnum ¥thenumberofthanks=1%
   $^{*}$¥kern0mm%
  ¥else%
   ¥ifnum ¥the¥c@footnote=0%
    $^{*1}$¥kern0mm%
   ¥else%
    ¥ifnum ¥the¥c@footnote=1%
     ¥hskip2.5mm$^{*2}$¥kern0mm%
    ¥else%
     ¥ifnum ¥the¥c@footnote=2%
      ¥hskip2.5mm$^{*3}$¥kern0mm%
     ¥else%
      ¥ifnum ¥the¥c@footnote=3%
       ¥hskip2.5mm$^{*4}$¥kern0mm%
      ¥else%
       ¥ifnum ¥the¥c@footnote>3%
        ¥hskip2.5mm$^{*5}$¥kern0mm%
       ¥else%
       ¥fi%
      ¥fi%
     ¥fi%
    ¥fi%
   ¥fi%
  ¥fi%
   #1}}%
 ¥gdef¥@thanks{#2}¥ignorespaces}

¥def¥@affiliate{}
¥def¥@thanks{}

¥def¥jthanks#1{¥footnotemark¥begingroup%
¥def¥protect{¥noexpand¥protect¥noexpand}¥xdef¥@jthanks{¥@jthanks
  ¥protect¥footnotetext[¥the¥c@footnote]{#1}}¥endgroup}
¥def¥@jthanks{}

¥def¥ethanks#1{¥footnotemark¥begingroup%
¥def¥protect{¥noexpand¥protect¥noexpand}¥xdef¥@ethanks{¥@ethanks
  ¥protect¥footnotetext[¥the¥c@footnote]{#1}}¥endgroup}
¥def¥@ethanks{}

¥def¥aff#1{$^{#1}$}

¥def¥Jlongaffiliate#1{¥gdef¥@Jlongaffiliate{¥¥ &&¥hspace{#1}}}
¥def¥@Jlongaffiliate{}

¥def¥Elongaffiliate#1{¥gdef¥@Elongaffiliate{¥¥ &&¥hspace{#1}}}
¥def¥@Elongaffiliate{}

%% definition of ¥received & ¥keyword
¥def¥received#1{¥begingroup
¥def¥protect{¥noexpand¥protect¥noexpand}¥xdef¥@received{¥@received
  ¥protect¥footnotetext[0]{原稿受付¥hskip2.75mm #1}}¥endgroup}
¥def¥@received{}

¥def¥keyword#1{¥begingroup
¥def¥protect{¥noexpand¥protect¥noexpand}¥xdef¥@keyword{¥@keyword
  ¥protect¥footnotetext[0]{キーワード¥hbox to 2.75mm{¥hss ：¥hss}#1}}¥endgroup}
¥def¥@keyword{}

%% definition of running head
¥def¥@Rtop{¥rlap{¥smash{¥rule[-¥headsep]{0.01mm}{10mm}¥rule[-¥headsep]{10mm}{0.01mm}}}}
¥def¥@Ltop{¥llap{¥smash{¥rule[-¥headsep]{10mm}{0.01mm}¥rule[-¥headsep]{0.01mm}{10mm}}}}
¥def¥@Rbot{¥rlap{¥smash{¥raisebox{1¥footskip}{¥rule[-10mm]{0.01mm}{10mm}¥rule{10mm}{0.01mm}}}}}
¥def¥@Lbot{¥llap{¥smash{¥raisebox{1¥footskip}{¥rule{10mm}{0.01mm}¥rule[-10mm]{0.01mm}{10mm}}}}}

¥newcounter{toppage}
¥def¥thetoppage{¥arabic{toppage}}

¥def¥ps@JRSJ{%
¥let¥@mkboth=¥@gobbletwo%
¥def¥@oddhead{%
¥def¥¥{¥relax¥ignorespaces}
¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Ltop¥else¥fi
¥hfill¥@TITLE¥hfill¥llap{¥thetoppage}¥ifProof¥@Rtop¥else¥fi}%
¥def¥@evenhead{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Ltop¥else¥fi%
¥rlap{¥thetoppage}¥hfill¥@RHEAD¥hfill¥ifProof¥@Rtop¥else¥fi}%
¥def¥@evenfoot{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Lbot¥else¥fi%
¥rlap{JRSJ Vol.¥,¥@Vol¥ No.¥,¥@No}%
¥hfill{---¥thepage ---}¥hfill%
¥llap{¥@Month*,¥ ¥@Year}¥ifProof¥@Rbot¥else¥fi}%
¥def¥@oddfoot{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Lbot¥else¥fi%
¥rlap{日本ロボット学会誌¥@Vol 巻¥@No 号}%
¥hfill{---¥thepage ---}¥hfill%
¥llap{¥@Year 年¥@Month 月}¥ifProof¥@Rbot¥else¥fi}}

%% only on first page; "¥maketitle"
¥def¥ps@jrsj{%
¥let¥@mkboth=¥@gobbletwo%
¥def¥@oddhead{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Ltop¥else¥fi%
¥hfill 日本ロボット学会誌¥hskip2.5mm Vol.¥,¥@Vol¥hskip2.5mm No.¥,¥@No , 
pp.¥thetoppage 〜¥pageref{lastpage},¥ ¥@Year¥hfill
¥llap{¥thetoppage}¥ifProof¥@Rtop¥else¥fi}%
¥def¥@evenhead{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Ltop¥else¥fi%
¥rlap{¥thetoppage}%
¥hfill 日本ロボット学会誌¥hskip2.5mm Vol.¥,¥@Vol¥hskip2.5mm No.¥,¥@No , 
pp.¥thetoppage 〜¥pageref{lastpage},¥ ¥@Year¥hfill¥ifProof¥@Rtop¥else¥fi}%
¥def¥@evenfoot{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Lbot¥else¥fi
¥rlap{JRSJ Vol.¥,¥@Vol¥ No.¥,¥@No}%
¥hfill{---¥thepage ---}¥hfill%
¥llap{¥@Month*,¥ ¥@Year}¥ifProof¥@Rbot¥else¥fi}%
¥def¥@oddfoot{¥scriptsize¥rm¥sevmin¥cntrm¥ifProof¥@Lbot¥else¥fi
¥rlap{日本ロボット学会誌¥@Vol 巻¥@No 号}%
¥hfill{---¥thepage ---}¥hfill%
¥llap{¥@Year 年¥@Month 月}¥ifProof¥@Rbot¥else¥fi}}

¥def¥author#1{¥gdef¥@author{#1}%
¥gdef¥@RHEAD{¥def¥and{¥hskip5mm}¥def¥aff####1{}¥def¥thanks####1####2{}#1}}
¥def¥@RHEAD{}
¥def¥Year#1{¥gdef¥@Year{#1}}
¥def¥@Year{}
¥def¥Month#1{¥gdef¥@Month{¥@ifstar{%
{¥ifcase#1 xxx.¥or Jan.¥or Feb.¥or Mar.¥or Apr.¥or May¥or Jun.¥or 
July¥or Aug.¥or Sep.¥or Oct.¥or Nov.¥or Dec.¥fi}}{{#1}}}}
¥def¥@Month{}
¥def¥Vol#1{¥gdef¥@Vol{#1}}
¥def¥@Vol{}
¥def¥No#1{¥gdef¥@No{#1}}
¥def¥@No{}
¥Vol{xx}¥No{xx}¥Year{199x}¥Month{0}

¥mark{{}{}} 
¥if@twoside 
¥def¥ps@headings{¥let¥@mkboth¥markboth
¥def¥@oddfoot{}¥def¥@evenfoot{}¥def¥@evenhead{¥rm ¥thepage¥hfil ¥sl
¥leftmark}¥def¥@oddhead{¥hbox{}¥sl ¥rightmark ¥hfil
¥rm¥thepage}¥def¥sectionmark##1{¥markboth {¥uppercase{¥ifnum ¥c@secnumdepth
>¥z@
 ¥thesection¥hskip 1em¥relax ¥fi ##1}}{}}¥def¥subsectionmark##1{¥markright
{¥ifnum ¥c@secnumdepth >¥@ne
 ¥thesubsection¥hskip 1em¥relax ¥fi ##1}}}
¥else ¥def¥ps@headings{¥let¥@mkboth¥markboth
¥def¥@oddfoot{}¥def¥@evenfoot{}¥def¥@oddhead{¥hbox {}¥sl ¥rightmark ¥hfil
¥rm¥thepage}¥def¥sectionmark##1{¥markright {¥uppercase{¥ifnum ¥c@secnumdepth
>¥z@
 ¥thesection¥hskip 1em¥relax ¥fi ##1}}}}
¥fi
¥def¥ps@myheadings{¥let¥@mkboth¥@gobbletwo
¥def¥@oddhead{¥hbox{}¥sl¥rightmark ¥hfil
¥rm¥thepage}¥def¥@oddfoot{}¥def¥@evenhead{¥rm ¥thepage¥hfil¥sl¥leftmark¥hbox
{}}¥def¥@evenfoot{}¥def¥sectionmark##1{}¥def¥subsectionmark##1{}}

¥def¥today{¥ifcase¥month¥or
 January¥or February¥or March¥or April¥or May¥or June¥or
 July¥or August¥or September¥or October¥or November¥or December¥fi
 ¥space¥number¥day, ¥number¥year}

%%  eqnarray env.
¥def¥eqnarray{%
  ¥stepcounter{equation}%
  ¥let¥@currentlabel=¥theequation
  ¥global¥@eqnswtrue
  ¥global¥@eqcnt¥z@
  ¥tabskip¥@centering
  ¥let¥¥=¥@eqncr
  $$¥halign to ¥displaywidth¥bgroup¥@eqnsel¥hskip¥@centering
  $¥displaystyle¥tabskip¥z@{##}$&¥global¥@eqcnt¥@ne
  ¥hfil$¥displaystyle{{}##{}}$¥hfil
  &¥global¥@eqcnt¥tw@$¥displaystyle¥tabskip¥z@{##}$¥hfil
  ¥tabskip¥@centering&¥llap{##}¥tabskip¥z@¥cr}

%¥def¥@eqnnum{(¥theequation)}
¥ifNTTFONT
¥def¥@eqnnum{（¥theequation ）¥hspace*{1¥Kanjiwidth}¥mbox{}}¥else
¥def¥@eqnnum{¥<（¥theequation）¥<¥hspace*{1¥Kanjiwidth}¥mbox{}}¥fi

%% from "citesort.sty", with a little modified
¥newcount¥@minsofar
¥newcount¥@min
¥newcount¥@cite@temp
¥def¥@citex[#1]#2{%
¥if@filesw ¥immediate ¥write ¥@auxout {¥string ¥citation {#2}}¥fi
¥@tempcntb¥m@ne ¥let¥@h@ld¥relax ¥def¥@citea{}%
¥@min¥m@ne%
¥@cite{%
  ¥@for ¥@citeb:=#2¥do {¥@ifundefined {b@¥@citeb}%
    {¥@h@ld¥@citea¥@tempcntb¥m@ne{¥bf ?}%
    ¥@warning {Citation `¥@citeb ' on page ¥thepage ¥space undefined}}%
{¥@minsofar¥z@ ¥@for ¥@scan@cites:=#2¥do {%
  ¥@ifundefined{b@¥@scan@cites}%
    {¥@cite@temp¥m@ne}
    {¥@cite@temp¥number¥csname b@¥@scan@cites ¥endcsname ¥relax}%
¥ifnum¥@cite@temp > ¥@min% select the next one to list
    ¥ifnum¥@minsofar = ¥z@
      ¥@minsofar¥number¥@cite@temp
      ¥edef¥@scan@copy{¥@scan@cites}¥else
    ¥ifnum¥@cite@temp < ¥@minsofar
      ¥@minsofar¥number¥@cite@temp
      ¥edef¥@scan@copy{¥@scan@cites}¥fi¥fi¥fi}¥@tempcnta¥@min
  ¥ifnum¥@minsofar > ¥z@ % some more
    ¥advance¥@tempcnta¥@ne
    ¥@min¥@minsofar
    ¥ifnum¥@tempcnta=¥@minsofar %   Number follows previous--hold on to it
      ¥ifx¥@h@ld¥relax
        ¥edef ¥@h@ld{¥@citea¥csname b@¥@scan@copy¥endcsname}%
      ¥else ¥edef¥@h@ld{¥ifmmode{]¥mbox{〜}[}¥else]〜[¥fi¥csname b@¥@scan@copy¥endcsname}%
      ¥fi
    ¥else ¥@h@ld¥@citea¥csname b@¥@scan@copy¥endcsname
          ¥let¥@h@ld¥relax
  ¥fi % no more
¥fi}%
¥def¥@citea{]¥,¥penalty¥@highpenalty[}}¥@h@ld}{#1}}
%% end of citesort.sty

%% from "cite.sty", with a little modified
¥def¥@cite#1#2{¥leavevmode¥unskip
  ¥ifnum¥lastpenalty=¥z@¥penalty¥@highpenalty¥fi% highpenalty before
  ¥,[{¥multiply¥@highpenalty 3 #1%             % triple-highpenalties within
      ¥if@tempswa,¥penalty¥@highpenalty¥ #2¥fi % and before note.
    }]¥spacefactor¥@m}
%% end of cite.sty

%¥def¥@begintheorem#1#2{%
%¥ifNTT
%¥settowidth{¥labelwidth}{［#1¥ #2］}¥else
%¥settowidth{¥labelwidth}{¥<［#1¥ #2］¥<}¥fi
%¥begin{description}¥item[¥@thmlbracket #1¥ #2¥@thmrbracket]}
%¥def¥@opargbegintheorem#1#2#3{¥begin{description}¥leftmargin¥z@¥labelsep1¥Kanjiwidth
%¥itemsep¥z@¥topsep¥z@¥parsep¥z@
%¥item[¥@thmlbracket #1¥ #2¥@thmrbracket（#3）]}
%¥def¥@endtheorem{¥end{description}}
%¥def¥thmbracket#1#2{¥gdef¥@thmlbracket{#1}¥gdef¥@thmrbracket{#2}}
%¥ifNTT
%¥thmbracket{［}{］}¥else
%¥thmbracket{¥<［}{］¥<}¥fi

% definition of profile
¥newcounter{PROFILE}
¥newdimen¥@heightofprofile
¥newbox¥@profile

¥long¥def¥profile#1#2{¥small¥rm¥ninmin¥cntrm
¥baselineskip 15¥h%
¥settowidth{¥Kanjiwidth}{亜}%
¥refstepcounter{PROFILE}%
¥ifnum¥thePROFILE=1%
¥vspace{6mm}
¥vspace*{-3mm}
¥hrule height0.1mm¥vskip2mm
¥nopagebreak[4]
¥else%
¥vspace{5mm}
¥vspace*{-7mm}
¥fi%
¥parindent=¥z@
¥setbox¥@profile¥hbox{%
¥begin{minipage}[t]{¥columnwidth}
¥smash{¥rlap{¥begin{picture}(20,25)
¥put(0,-26){¥framebox(20,25){¥null}}¥end{picture}}}
¥HANG{24mm}{-7}%8¥Kanjiwidth
{¥normalsize¥rm¥cntrm¥tengt #1¥rule[-2mm]{0mm}{4mm}}¥hfil¥break
{¥small¥rm¥ninmin¥cntrm¥baselineskip 15¥h #2}¥end{minipage}¥par}
¥@heightofprofile=¥ht¥@profile
¥advance ¥@heightofprofile by ¥dp¥@profile
¥ifdim ¥@heightofprofile < 25.5mm
¥vbox{¥rule[-29mm]{0mm}{25mm}¥box¥@profile}
¥else
¥smash{¥rlap{¥begin{picture}(20,25)
¥put(0,-26){¥framebox(20,25){¥null}}¥end{picture}}}
¥HANG{24mm}{-7}%8¥Kanjiwidth
{¥normalsize¥rm¥cntrm¥tengt #1¥rule[-2mm]{0mm}{4mm}}¥hfil¥break
{¥small¥rm¥ninmin¥cntrm¥baselineskip 15¥h #2}
¥fi}

% definition of Profile in multicols env.
¥ifphototype
¥long¥def¥Profile#1#2{¥small¥rm¥ninmin¥cntrm
¥settowidth{¥Kanjiwidth}{亜}¥baselineskip 15¥h%
¥refstepcounter{PROFILE}%
¥ifnum¥thePROFILE >1%
¥vspace{0mm}%
¥else%
¥vspace{0mm}%
¥fi%
¥parindent=¥z@
¥setbox¥@profile¥hbox{%
¥begin{minipage}[t]{¥hsize}%
¥smash{¥rlap{¥begin{picture}(20,25)
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¥def¥membership{{¥unskip¥nobreak¥hfil¥penalty50
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