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Jumping Motion Control of One-legged Jumping Robot with Pneumatic Muscles
Yuta ISHIYAMA,Yuya YAMAMOTO,Atsuo TAKANISHI,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.
Nakanishi, Takashi,Yamamoto, Yuta,Tanioka, Kensuke,Shintani, Yukari,Tojyo, Itaru,Fujita, Shigeyuki Korean Association of Maxillofacial Plastic and Re 2019 Maxillofacial Plastic Reconstructive Surgery Vol.41 No.-
Background: The prognosis of recovery following microneurosurgery for injured lingual nerves varies among individual cases. This study aimed to investigate if recovery ratios of sensory and taste functions are improved by the microneurosurgery within 6 months after lingual nerve injury. Methods: We retrospectively assessed 70 patients who underwent microneurosurgery at the Wakayama Medical University Hospital for lingual nerve injuries between July 2004 and December 2016. Sensory and taste functions in lingual nerves were preoperatively evaluated using a static two-point discrimination test, an intact superficial pain/tactile sensation test, and a taste discrimination test. They were evaluated again at 12 and at 24 months postoperatively. The abundance ratio of Schwann cells in the excised traumatic neuromas was analyzed with ImageJ software following immunohistochemistry with anti S-100β antibody. Results: In early cases (microneurosurgery within 6 months after the injury), recovery ratios of sensory and taste functions were not significantly different at 24 months after microneurosurgery compared with later cases (microneurosurgery more than 6 months after the injury). Meanwhile, the ratio of patients with taste recovery within 12 months after microneurosurgery was significantly decreased in late cases compared with early cases. The abundance ratio of Schwann cells in traumatic neuroma was also significantly lower in later cases. Conclusion: Microneurosurgery more than 6 months after lingual nerve injury did not lead to decreased recovery ratio of sensory and taste functions, but it did lead to prolonged recovery of taste. This delay may be associated with a decrease in the abundance ratio of Schwann cells in traumatic neuromas.
Collision-Avoidance Algorithm for Human-Symbiotic Robot
Yuji Hosoda,Kenjirou Yamamoto,Ryouko Ichinose,Saku Egawa,Junichi Tamamoto,Kouji Tsubouchi,Shinichi Yuta 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot-called EMIEW”-using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.
Experimental Flight of KIT Student’s Rocket in France
Koji Okuda,Yuji Ujimoto,Yuta Otsuka,Takaya Sato,Takuya Shidooka,Daijiro Semba,Kenichi Tominaga,Junichi Fukuda,Yuta Yamamoto,Kazuki Wada,Shinichi Sagara,Koichi Yonemoto 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
KIT Student's Rocket has been developed by a student group of Kyushu Institute of Technology lor rocket launch campaign held at La Courtine in France since 2006. This paper introduces the newest design of rocket. The rocket has the body length of 2120㎜, and weighs 14.6㎏ and can reach to an altitude of about 700㎜ by a solid rocket motor provided by CNES (the French Centre National D’Etudes Spatiales). The rocket is controlling rolling attitude during ascent phase and then deploying a parafoil at the apogee of the trajectory for recovery guidance to an aiming point.
Self-reliant wireless health monitoring based on tuned-mass-damper mechanism
Kanjuro Makihara,Hidekazu Hirai,Yuta Yamamoto,Hisao Fukunaga 국제구조공학회 2015 Smart Structures and Systems, An International Jou Vol.15 No.6
We propose an electrically self-reliant structural health monitoring (SHM) system that is able to wirelessly transmit sensing data using electrical power generated by vibration without the need for additional external power sources. The provision of reliable electricity to wireless SHM systems is a highly important issue that has often been ignored, and to expand the applicability of various wireless SHM innovations, it will be necessary to develop comprehensive wireless SHM devices including stable electricity sources. In light of this need, we propose a new, highly efficient vibration-powered generator based on a tuned-mass-damper (TMD) mechanism that is quite suitable for vibration-based SHM. The charging time of the TMD generator is shorter than that of conventional generators based on the impedance matching method, and the proposed TMD generator can harvest 16 times the amount of energy that a conventional generator can. The charging time of an SHM wireless transmitter is quantitatively formulated. We conduct wireless monitoring experiments to validate a wireless SHM system composed of a self-reliant SHM and a vibration-powered TMD generator.
Toji Tsubasa,Tokuda Makoto,Yamamoto Tetsuya,Nakase Yuta,Itino Takao 한국응용곤충학회 2021 Journal of Asia-Pacific Entomology Vol.24 No.4
Studying the diversification patterns of species-rich phytophagous insect taxa can help us understand the factors that cause species diversification. We conducted a molecular phylogenetic analysis of the mitochondrial COI gene of larvae of gall midges (Diptera: Cecidomyiidae) using three genetically differentiated morphs of Cimicifuga simplex plants and found that the gall midges could be divided into five major clades. Gall midges collected from morph I of C. simplex belonged to four Schizomyia clades. Gall midges collected from morph II of C. simplex belonged to one of the four Schizomyia clades collected from morph I. Gall midges collected from morph III belonged one Contarinia clade. On morphs I and II of C. simplex, the Schizomyia species induced galls on the flower bud, whereas on morph III of C. simplex, the Contarinia species was collected from normal fruits (not gall inducer); thus, morph III plants were used differently by gall midges than plants of morphs I and II. These results indicate that the cryptic diversity of these phytophagous insects correspond to that of plant ecotypes, and sug gests that the diversification of the host plant contributed to parallel diversification of the phytophagous gall midges.
Transient Analysis of Self-Powered Energy-Harvesting using Bond-Graph
Makihara, Kanjuro,Shigeta, Daisuke,Fujita, Yoshiyuki,Yamamoto, Yuta The Society for Aerospace System Engineering 2015 International Journal of Aerospace System Engineer Vol.2 No.1
The transient phenomenon of self-powered energy-harvesting is assessed using a bond-graph method. The bond-graph is an energy-based approach to describing physical-dynamic systems. It shows power flow graphically, which helps us understand the behavior of complicated systems in simple terms. Because energy-harvesting involves conversion of power in mechanical form to the electrical one, the bond-graph is a good tool to analyze this power flow. Although the bond-graph method can be used to calculate the dynamics of combining mechanical and electrical systems simultaneously, it has not been used for harvesting analysis. We demonstrate the usability and versatility of bond-graph for not only steady analysis but also transient analysis of harvesting.
( Tatsuhiro Masaoka ),( Hisako Kameyama ),( Tsuyoshi Yamane ),( Yuta Yamamoto ),( Hiroya Takeuchi ),( Hidekazu Suzuki ),( Yuko Kitagawa ),( Takanori Kanai ) 대한소화기기능성질환·운동학회(구 대한소화관운동학회) 2018 Journal of Neurogastroenterology and Motility (JNM Vol.24 No.4
Background/Aims Potassium-competitive acid blockers are expected to be the next generation of drugs for the treatment of diseases caused by gastric acid. In 2015, vonoprazan fumarate, a novel potassium-competitive acid blocker, was approved by the Japanese health insurance system. Since its approval, patients refractory to vonoprazan can be encountered in clinical settings. We designed this study to clarify the pathophysiology of gastroesophageal reflux disease refractory to vonoprazan. Methods In this retrospective study, we involved patients who had refractory symptoms after administration of standard-dose proton pump inhibitors or vonoprazan and underwent diagnostic testing with esophageal high-resolution manometry and 24-hour multichannel intraluminal impedance and pH monitoring while using proton pump inhibitors or vonoprazan. Patients were diagnosed based on the Rome IV criteria for functional gastrointestinal disorders and diagnostic test results. Results Twenty-seven patients were analyzed during this study. Gastric pH ≥ 4 was sustained for a longer period of time, and the esophageal acid exposure time and number of acid reflux events were shorter in the vonoprazan group than in the proton pump inhibitor group. The percentage of patients diagnosed with acidic gastroesophageal reflux disease in the vonoprazan group was lower than that in the proton pump inhibitor group. Conclusions Intra-gastric pH and acid reflux were strongly suppressed by 20-mg vonoprazan. When patients with gastroesophageal reflux disease present symptoms after administration of 20-mg vonoprazan, the possibility of pathophysiologies other than acid reflux should be considered. (J Neurogastroenterol Motil 2018;24:577-583)
Katsuhiro Hayashi,Tetsutaro Yahata,Ryota Muramoto,Norio Yamamoto,Akihiko Takeuchi,Shinji Miwa,Takashi Higuchi,Kensaku Abe,Yuta Taniguchi,Hisaki Aiba,Yoshihiro Araki,Hiroyuki Tsuchiya 대한재활의학회 2018 Annals of Rehabilitation Medicine Vol.42 No.3
Objective To analyze patient characteristics of cancer rehabilitation and outcomes at our hospital.Methods This retrospective study analyzed 580 patients, who underwent cancer rehabilitation at our hospital and rehabilitation outcome after therapy were investigated. The relationship between the initial Barthel index and discharge outcomes was investigated, with a special focus on cancer patients with bone metastasis. The Barthel index and performance status (Eastern Cooperative Oncology Group) before and after rehabilitation were analyzed, and threshold value of home discharge was calculated from a receiver operating characteristic curve (ROC). General criteria for home discharge from our hospital included independence in performing basic activities of daily living such as bathing, feeding, and toileting or availability of home support from a family member/caregiver.Results The outcomes after rehabilitation among all the patients were as follows: discharge home 59%, death 13%, and others 27%. Statistical differences were observed between the initial and final values of the Barthel index in patients with bone metastasis, who could be discharged home (p=0.012). ROC analysis of the initial Barthel index for predicting home discharge revealed a threshold value of 60, sensitivity of 0.76, and specificity of 0.72.Conclusion The patients with bone metastasis had a lower rate of home discharge and a higher rate of mortality than all the study patients who underwent cancer rehabilitation at our hospital. It is proposed that at the time of initiation of rehabilitation for patients with bone metastasis, an initial Barthel index lower than 60 might predict a worse outcome than home discharge.