SKILLFUL OPERATION OF WORKING PLATE UNDER NON-UNIFORM LOADS WITH AN INDUSTRIAL DUAL-ARM ROBOT CONSIDERING POWER CONSUMPTION OF JOINTS MOTORS

R.Kitahata,T. Hirogaki,E. Aoyama 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

With the advancement of the motion control of industrial robots in recent years, a method that can easily measure the accuracy of the synchronous control of a two-axis dual-arm robot is desired. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on a work plate and uses the rolling motion error with respect to the reference circle. In addition, industrial robots in the field are always forced to operate continuously for a long period of time, and they work with all kinds of loads overlapping and applying non-uniform loads. In this study, we propose a new measurement method that creates a rolling motion of a ball on a circular track on a work plate and uses the error of the rolling motion relative to a reference circle. In particular, in order to elucidate the motion error during long-time continuous operation under high load, we approached the problem from the viewpoint of joint temperature and power consumption. As a result, we found that the ball trajectory error was caused by an increase in the temperature of the elbow and wrist motors, which increased the joint load and caused an angular error in the plate. Even when non-uniform loads were applied, the circular trajectory could be corrected by making corrections according to the temperature at each arm. The tendency of the angle error due to the temperature rise and the increase in joint load of each joint was found, and it was found that it was possible to correct the angle error by FF control.

Investigation of novel teaching method for skillful operation of working plate with an industrial dual arm robot

T. Mase,R. Kitahata,T. Hirogaki,E. Aoyama 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

With the advancement of the motion control of industrial robots in recent years, there is a demand for a method that can easily measure the accuracy of the synchronous control of a 2-axis dual-arm robot. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on the work plate and uses the rolling motion error with respect to the reference circle. In this study, we conducted experiments on the teaching method when controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. Results showed that an error occurred in the maximum inclination angle of the plate, which we kept the ball steady by correcting a teaching program. As the load is applied to the wrist joints by the plate, the effect of the correction of the teaching point angle cannot be obtained. However, the method of correcting the angular velocity between the teaching points was found to be effective.

The albumin to globulin ratio is associated with clinical outcome in Japanese patients with ulcerative colitis

Yagi Sen,Furukawa Shinya,Shiraishi Kana,Miyake Teruki,Tange Kazuhiro,Hashimoto Yu,Kitahata Shogo,Kawamura Tomoe,Ninomiya Tomoyuki,Mori Kenichirou,Suzuki Seiyuu,Shibata Naozumi,Murakami Hidehiro,Ohashi 대한대장항문학회 2023 Annals of Coloproctolgy Vol.39 No.2

Purpose: The albumin-to-globulin ratio (AGR) is a recognized chronic inflammation marker. No evidence regarding the relationship between AGR level and ulcerative colitis (UC) exists. The aim of this study was to evaluate the association between AGR and clinical outcomes among Japanese subjects with UC. Methods: The study subjects consisted of 273 Japanese individuals with UC. AGR was divided into 4 categories (low, moderate, high, and very high). The definition of complete mucosal healing (MH) was based on the Mayo endoscopic subscore of 0. Clinical remission (CR) was defined as no rectal bleeding and no abnormally high stool frequency (<3 times per day). Results: The percentage of MH was 26.4%. High AGR and very high AGR were significantly positively correlated with CR (adjusted odds ratio [OR], 5.85; 95% confidence interval [CI], 2.52–14.18 and adjusted OR, 4.97; 95% CI, 2.14–12.04) and complete MH (adjusted OR, 4.03; 95% CI, 1.56–11.51 and adjusted OR, 5.22; 95% CI, 1.97–14.89), respectively after adjustment for confounding factors (P for trend=0.001). Only in the low C-reactive protein (CRP) group (≤0.1 mg/dL), very high AGR was significantly positively correlated with complete MH but not CR (adjusted OR, 4.38; 95% CI, 1.06–21.77; P for trend=0.017). In the high CRP group, no correlation between AGR and complete MH was found. Conclusion: Among Japanese patients with UC, AGR may be independently positively correlated with complete MH. In particular, among UC patients with low CRP, AGR might be a useful complementary marker for complete MH.

The Impact of Neoadjuvant Chemotherapy for Borderline Resectable Pancreatic Cancer

( Manabu Kawai ),( Seiko Hirono ),( Ken-ichi Okada ),( Motoki Miyazawa ),( Yuji Kitahata ),( Ryohei Kobayashi ),( Masaki Ueno ),( Shinya Hayami ),( Hiroki Yamaue ) 대한간학회 2018 춘·추계 학술대회 (KASL) Vol.2018 No.1

Backgrounds: According to the National Comprehensive Cancer Network (NCCN) Clinical Practice Guidelines, pancreatic ductal adenocarcinoma (PDAC) can be classified as resectable, borderline resectable, or unresectable. Although borderline resectable PDAC (BRPC) may technically be resectable, it has particularly high risks of margin-positive resection and postoperative recurrence. Therefore, preoperative treatment is recommended for BRPC patients in both the NCCN Guidelines and an expert consensus statement. However, the establishment of the most appropriate neoadjuvant therapy is needed by further studies. The aim of these studies is to evaluate the impact of neoadjuvant chemotherapy for BRPC and confirm the safety and efficacy of two regimens of neoadjuvant therapy for BRPC. Our Clinical Trials: First, we evaluated the impact of neoadjuvant chemotherapy for BRPC. 143 BRPC-A patients undergoing pancreatectomy were reviewed from among 330 pancreatic cancer patients, including 111 potentially resectable pancreatic cancer patients and 76 BRPC with portal vein involvement patients. We compared the clinicopathological factors of 40 BRPC-A patients treated with neoadjuvant treatment followed by surgery and those of 103 BRPC-A patients treated with upfront surgery. The R0 rate and progression-free survival of BRPC-A patients who received neoadjuvant therapy and subsequent surgical resection were significantly better compared to those who received upfront surgery (R0: P = 0.041; progression-free survival: P = 0.033), but overall survival was not significantly different. Neoadjuvant treatment followed by surgery might provide clinical benefits for BRPC-A patients; however, the establishment of the most appropriate neoadjuvant treatment is needed by further studies. To evaluate appropriate neoadjuvant treatment, two prospective pilot trials were conducted as follows; modified FOLFIRINOX (without bolus 5-FU and LV, also decreased the dose of irinotecan; FIRINOX) and nab-paclitaxel plus gemcitabine therapy. Modified FOLFIRINOX was given to the first five patients in the 4-cycle group of the regimen and next five patients in the 8-cycle group. The primary end point was the toxicity of the therapy and one of the secondary end points were the optimal duration. The overall rate of grade 3 and 4 events was 80 %: 3 patients (60%) in the four-cycle group and five patients (100%) in the eight-cycle group had grade 3 or 4 adverse events. There was no incidence of serious adverse effect such as febrile neutropenia, sepsis, liver abscess or uncontrollable diarrhea. There was no clinically relevant morbidity presented in patients who underwent surgery. R0 rates by intention to treat were 60.0% in the four-cycle group and 40 % in the eight-cycle group (P = 0.999). The histopathologic treatment effect based on the Evans grade revealed grade I (n = 1), IIa (n = 3) in the four-cycle group and grade I (n = 2), IIa (n = 1) in the eight-cycle group. Nab-paclitaxel plus gemcitabine therapy: the primary endpoint was the toxicity, and secondary endpoints were the resection rate, the R0 resection rate. The overall rate of any grade and grade 3-4 events were 100% and 90%. The majority of these adverse events represented expected neutropenia. The resection and R0 resection rates were 80% and 70%, respectively. Conclusion: FIRINOX therapy was feasible and safe for strictly selected patients with BRPC. On the other hand, nab-paclitaxel plus gemcitabine therapy was safe and feasible without strict selection of patients with BRPC. A multicenter phase II study is in progress to investigate the efficacy of neoadjuvant nab-paclitaxel plus gemcitabine therapy on overall survival (UMIN000024154).

Accumulation of High Levels of ABA Regulates the Pleiotropic Response of the nhr1 Arabidopsis Mutant

Francisco Quiroz-Figueroa,Adrián Rodríguez-Acosta,Amed Salazar-Blas,Elizabeta Hernández-Domínguez,Maria Eugenia Campos,Nobutaka Kitahata,Tadao Asami,Rosa M. Galaz-Avalos,Gladys I. Cassab 한국식물학회 2010 Journal of Plant Biology Vol.53 No.1

Plants have evolved a variety of mechanisms for responding to environmental cues, which allows them to survive in the presence of limited resources or environmental stresses. One of the most significant growth adaptations plants have attained is tropism, a growth response that involves bending of plant organs toward or away from a stimulus. Roots exhibit hydrotropism in response to moisture gradients, which is thought to be critical in acquiring water and establishing their stand in the soil. However, the mechanism underlying hydrotropism remains unsolved. Here, we report that the no hydrotropic response (nhr1) mutant of Arabidopsis, which is impaired in hydrotropism, is tolerant to drought. The no hydrotropic response phenotype of nhr1 was repressed by AbamineSG,an inhibitor of abscisic acid (ABA) biosynthesis, indicating that ABA negatively regulates hydrotropism. Furthermore,the content of ABA was higher in nhr1 compared to those of wild type (wt). However, the higher ABA levels in nhr1plants were not due to higher transcript levels of 9-cisepoxycarotenoid dioxygenase (NCED3), since these were diminished compared to those of wt. Our results indicated that the root hydrotropic response of the nhr1 mutant is modulated by ABA and that the higher ABA levels of the mutant might confer it drought resistance.