% for 先端ロボット工学合同ワークショップ %
\twocolumn
\sloppy
\flushbottom
 \leftmargini 2em
 \leftmarginv .5em
 \leftmarginvi .5em
 \oddsidemargin -36pt
 \evensidemargin -36pt
 \marginparwidth 48pt
 \marginparsep 10pt
 \textwidth 52zw
 \textheight 9.15in
 \topmargin -.3in
 \hbadness=1000
 \tolerance=5000 
 \parindent 1em

\columnsep 7mm
\textheight 250mm
\textwidth 170mm
\topmargin -1in
\addtolength{\topmargin}{5mm}
\oddsidemargin -1in
\addtolength{\oddsidemargin}{20mm}
\parindent 1zw


\def\title#1{\gdef\@title{#1}}
\def\author#1{\gdef\@author{#1}}
\def\and{%
  \end{tabular}%
  \hskip 1zw plus .01fil%
  \begin{tabular}[t]{c}%
  }
\def\@maketitle{\newpage%
  \null%
  \begin{center} %
   \vspace*{0mm} %
    {\LARGE\bf \@title \par } %
    \vskip 1em %
    {\large \@author }%
    \vskip 1em
  \end{center}%
  \@ifundefined{@abstract}{}{%
    \small%
    \begin{center}%
      \begin{minipage}{.9\textwidth}%
   \vspace*{0.0mm} %
      {\bf Abstract: }\@abstract%
      \end{minipage}%
    \end{center}%
    \gdef\@abstract{}}%
   \vspace*{-4.0mm} % 
    \vskip 1zh}%
\long\def\abstract#1{\long\gdef\@abstract{#1}}%

\def\thesection{\arabic{section}.}
\def\thesubsection{\arabic{section}$\cdot$\arabic{subsection}}

\def\@eqnnum{{\rm(\theequation)}} 
\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\thebibliography#1{%
  \vskip 1zh plus .2ex minus .2ex 
  \noindent{\large\bf 参考文献}\par\@mkboth{References}{References}
  \list{[\arabic{enumi}]}
    {\settowidth\labelwidth{#1)}
     \leftmargin\labelwidth	
     \parsep \z@ plus 1pt minus 1pt
     \itemsep \z@ plus 1pt minus 1pt
     \advance \leftmargin by \labelsep
     \usecounter{enumi}}	
  \def\newblock{\hskip .11em plus .33em minus .07em}%
  \sloppy
  \clubpenalty=4000 \widowpenalty=4000
  \sfcode`\.=1000\relax}
\let\endthebibliography=\endlist
\def\@cite#1#2{[{#1\if@tempswa , #2\fi}]}

\def\section{\@startsection {section}{1}{\z@}{.8ex plus .5ex minus 
 .2ex}{.5ex plus .2ex}{\large\sf}}
\def\subsection{\@startsection{subsection}{2}{\z@}{.8ex plus .5ex minus 
 .2ex}{.5ex plus .2ex}{\normalsize\sf}}
\def\subsubsection{\@startsection{subsubsection}{3}{\z@}{.8ex plus 
.5ex minus .2ex}{.5ex plus .2ex}{\normalsize\sf}}
\def\paragraph{\@startsection
 {paragraph}{4}{\z@}{0.5ex plus .3ex minus .2ex}{-1em}{\normalsize\bf}}
\def\subparagraph{\@startsection
 {subparagraph}{4}{\parindent}{0.5ex plus .3ex minus 
 .2ex}{-1em}{\normalsize\bf}}

\def\labfig#1{\label{fig:#1}}
\def\labtab#1{\label{tab:#1}}
\def\labeq#1{\label{eq:#1}}
\def\reffig#1{{\bf Fig. \ref{fig:#1}}}
\def\reftab#1{{\bf Table \ref{tab:#1}}}
\def\refeq#1{{\bf eq.}(\ref{eq:#1})}

\def\fnum@figure{{Fig. \thefigure}}
\def\fnum@table{{Table\ \thetable}}

\long\def\@caption#1[#2]#3{\par\addcontentsline{\csname
  ext@#1\endcsname}{#1}{\protect\numberline{\csname 
  the#1\endcsname}{\ignorespaces #2}}\begingroup
    \@parboxrestore
    \small
    \@makecaption{\csname fnum@#1\endcsname}{\ignorespaces #3}\par
  \endgroup}

\long\def\@makecaption#1#2{
   \vskip 5\p@	
   \setbox\@tempboxa\hbox{#1 #2}
   \ifdim \wd\@tempboxa >\hsize
     \begin{list}{#1}{
       \leftmargin 2zw \itemindent 0ex \labelsep 1ex%
       \labelwidth \leftmargin%
       \addtolength{\labelwidth}{-\itemindent}%
       \addtolength{\labelwidth}{-\labelsep}%
       \rightmargin=\leftmargini%
       \addtolength{\rightmargin}{-\itemindent}}%
       \item #2
     \end{list}\par%
   \else
       \hbox to\hsize{\hfil\box\@tempboxa\hfil}%
   \fi}

\def\deg{${}^\circ$}
\def\atan2{\mbox{atan2}}
\def\arg{\mbox{arg}}

\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}

\newcounter{stepnumber}
\newenvironment{stepping}{\usecounter{stepnumber}}{}%
\def\step{%
  \addtocounter{stepnumber}{1}%
  \parindent=0pt %
  \par%
  {\bf Step \arabic{stepnumber}.}%
  \hspace{1em}}

\newcount\@itemdepth \@itemdepth = 0
\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}}%
      \topsep 3pt%
      \partopsep 0pt%
      \parsep 0pt%
      \itemsep 0pt}%
  \fi}
\let\enditemize =\endlist

\newcount\@enumdepth \@enumdepth = 0
\@definecounter{enumi}
\@definecounter{enumii}
\@definecounter{enumiii}
\@definecounter{enumiv}
\def\enumerate{%
  \ifnum %
    \@enumdepth >3 \@toodeep
  \else%
    \advance\@enumdepth \@ne %
    \edef\@enumctr{enum\romannumeral\the\@enumdepth}%
    \list{\csname label\@enumctr\endcsname}{%
      \usecounter{\@enumctr}%
      \def\makelabel##1{\hss\llap{##1}}
      \topsep 3pt%
      \partopsep 0pt%
      \parsep 0pt%
      \itemsep 0pt}%
  \fi}
\let\endenumerate =\endlist


\setcounter{topnumber}{3}
\def\topfraction{.95}
\setcounter{bottomnumber}{2}
\def\bottomfraction{.95}
\setcounter{totalnumber}{4}
\def\textfraction{.05}
\def\floatpagefraction{.5}

