A dental diagnosis device has an occlusion sound detection member that detects occlusion sounds by teeth and an analysis member that analyzes the teeth occlusion based on detected occlusion sounds by the occlusion detection member. The method receives a graph of edges and states representing a program under test, and creates a continuous cycle of edges that reaches each edge in the graph at least once. A stimulation control device is removably coupled to a surgical device or is imbedded within the medical device to provide a stimulation and treatment medical device. A collision prediction section determined whether there is going to be a collision between the vehicle and the object 50 from the position estimated by the sensor matching section.