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Path Tracking Control of Lagrange Systems with Obstacle Avoidance
Kazunori Sakurama,Kazushi Nakano 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.1
This paper addresses a path tracking problem with obstacle avoidance for Lagrange systems. The proposed method is based on field potential methods in combination with navigation functions for obstacle avoidance. First, it is shown that a simple combination of the navigation function with the conventional path tracking controller does not work. Therefore, in order to cope with this problem, a new feedback law is proposed for a path parameter which characterizes the reference path. It is proved that the proposed controller achieves both path following and collision avoidance. Moreover, since the method adopts bounded navigation functions, the proposed controllers generate bounded input signals even when target systems approach obstacles. Finally, an experimental evaluation is performed with a two-link manipulator to illustrate the effectiveness of the proposed method.
Formation Control of Swarm Robots with Multiple Proximity Distance Sensors
Kazunori Sakurama,Yusuke Kosaka,Shin-ichiro Nishida 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
This study deals with the formation control problem of swarm robots using position sensitive detector(PSD) proximity distance sensors based on light-emitting diodes (LEDs). These proximity distance sensors arelightweight and quickly responsive, and are expected to enhance the mobility and flexibility of swarm robots. However,as each sensor has a narrow detection angle, the formation control problem becomes more difficult than whenwide-directional distance sensors (such as cameras and laser rangefinders) are used. To overcome this difficulty,we design a two-part motion controller that controls both position and attitude. The attitude controller is necessaryfor continuous detection of other robots through the narrow detection angles. The designed controller is distributedin the sense that it requires only information on measured values of each robot’s own sensors. Next, we derive anappropriate sensor arrangement (positions and detection angles) that achieves the desired formation pattern. Finally,the effectiveness of the proposed method is demonstrated in an experiment performed by six omni-wheeled robotsequipped with LED-based PSD proximity distance sensors.
Kazunori Iwanaga,Yutaka Kawabata,Makoto Miyazaki,Masawo Kakemi 대한약학회 2014 Archives of Pharmacal Research Vol.37 No.7
The purpose of this study was to quantitativelyclarify the effect of alky-chain length of a triglyceride in anemulsion on the partitioning of highly lipophilic compoundsinto the lymph fluid after their oral administration. Highly lipophilic anthraquinone derivatives were orallyadministered in emulsions to rats. Emulsions composed oflong-, medium-, and short-chain triglycerides (LCT, MCT,and SCT emulsions, respectively) were used. The concentrationsof the compounds in plasma and lymph fluidwere periodically determined and their partitioning to thelymph was calculated using a mathematical model. Intestinalabsorption of all compounds was enhanced and theplasma concentrations of the compounds were found to bein the following order: LCT emulsion[MCT emulsion[SCT emulsion. The amounts of each compound recoveredin the lymph were not in agreement with their lipophilicity. Quantitative analysis revealed that the partitioning of thecompounds to the lymph may be determined by the solubilityof the compound in the triglyceride in the form of anemulsion and the amount of triglyceride transferred to thelymph fluid. These results suggest a possibility that theamount of a compound absorbed via the lymph route afteroral administration can be quantitatively controlled by theformulations.
Development of in vitro Human Skeletal Muscle Models Using Microfabricated Devices
Kazunori SHIMIZU 한국생물공학회 2021 한국생물공학회 학술대회 Vol.2021 No.4
In vivo animal experiments have been employed to understand disease mechanisms and check efficacy, toxicity and irritancy of drugs, chemicals, and cosmetics. However, there is a growing need for alternatives to the animal experiments because of the difference of physiological responses between animals and humans, and ethical issues for the use of animals. One of the major alternatives is an in vitro cell culture. Although two-dimensional (2D) cell culture has been employed conventionally, the cultured cells in flat layers on plastic surfaces does not accurately model the in vivo state. In addition, it is difficult to evaluate tissue/organ-like functions including barrier functions, adsorption functions and contractile properties by the conventional 2D culture technique. Thus, better in vitro cell culture techniques to mimic and evaluate tissue/organ-level functions are needed. Skeletal muscle is the most abundant tissue in our body and does not only function as an actuator but involves in multiple physiological functions such as glucose homeostasis and body temperature maintenance, which are all influenced by muscle diseases. Therefore, the functional deterioration of skeletal muscles directly causes a reduced exercise capacity as well as metabolic abnormality, in turn worsening the quality of life significantly. Especially, in super aging society, diseases causing muscle weakness including sarcopenia and disuse atrophy are received much attention. We have developed in vitro human skeletal muscle models (1-7). In this presentation, I will mainly talk about 1) microdevices for contractile force measurement of tissue engineered skeletal muscle and their application for phenotypic drug screening against skeletal muscle atrophy and 2) microdevices for contractile force measurement of tissue engineered skeletal muscle innervated by iPSC derived motor neurons (7).
Kazunori Toyoda,Hiroshi Yamagami,Masatoshi Koga 대한뇌졸중학회 2018 Journal of stroke Vol.20 No.3
Development of direct oral anticoagulants and their antidotes has led to the need to reconsider the eligibility of acute stroke patients who have been taking oral anticoagulants for intravenous thrombolysis. Officially authorized Japanese guidelines on this issue were revised twice at the time of approval for clinical use of direct oral anticoagulants and idarucizumab, a specific reversal agent for dabigatran. A unique recommendation in the latest Japanese clinical guides was that thrombolysis can be recommended if the time of the last dose of direct oral anticoagulants exceeds 4 hours and if commonly available anticoagulation markers are normal or subnormal, i.e., international normalized ratio of prothrombin time <1.7 and activated partial thromboplastin time <1.5 times the baseline value (≤40 seconds only as a guide). These criteria are partly supported by the findings of domestic multicenter and single-center surveys that symptomatic or asymptomatic intracranial hemorrhage following thrombolysis was rare under the conditions of the criteria. Even for dabigatran users, stroke thrombolysis can be considered without pretreatment by idarucizumab if patients meet the above criteria. If not, direct mechanical thrombectomy can be considered without pretreatment by idarucizumab or thrombolysis, and use of idarucizumab, followed immediately by thrombolysis, can be considered only when thrombectomy cannot be quickly performed. These clinical guides are practical and to some extent economical, but they have some limitations, including lack of corroborating information from sufficient numbers of relevant cases. The guides will be further modified based on the results of future research.