Mechanism and Jumping Pattern of One-Legged Jumping Robot with Pneumatic Actuators

Yuya Yamamoto,Haruyoshi Nishi,Yusuke Torii,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified.

Regional differences in the density of Langerhans cells, CD8-positive T lymphocytes and CD68-positive macrophages: a preliminary study using elderly donated cadavers

Yuya Omine,Nobuyuki Hinata,Masahito Yamamoto,Masaaki Kasahara,Satoru Matsunaga,Gen Murakami,Shin-ichi Abe 대한해부학회 2015 Anatomy & Cell Biology Vol.48 No.3

To provide a better understanding of the local immune system in the face and external genitalia, i.e., the oral floor, lower lip, palpebral conjunctiva, anus and penis, we examined the distribution and density of CD1a-positve Langerhans cells, CD8-positive suppressor T lymphocytes and CD68-positive macrophages using specimens from 8 male elderly cadavers. The density of Langerhans cells showed an individual difference of more than (or almost) 10-fold in the lip (oral floor). In the oral floor, Langerhans cells were often spherical. Submucosal or subcutaneous suppressor lymphocytes, especially rich in the oral floor and penile skin, migrated into the epithelium at 4 sites, except for the anus. In the conjunctiva, macrophage migration into the epithelium was seen in all 8 specimens. The density of suppressor lymphocytes showed a significant correlation between the oral floor and the lip (r=0.78). In contrast, the anal and penile skins showed no positive correlation in the density of all three types of immunoreactive cells examined. Overall, irrespective of the wide individual differences, the oral floor and conjunctiva seemed to be characterized by a rich content of all three cell types, whereas the penile skin was characterized by an abundance of suppressor lymphocytes. Based on the tables, as mean value, the relative abundance of three different cell types were as follows; CD1a-positive Langerhans cells (anus), CD8-positive lymphocytes (penis), and CD68-positive macrophages (lip). The present observations suggest that the local immune response is highly site-dependent, with a tendency for tolerance rather than rejection.

Evaluation method for time-dependent corrosion depth of uncoated weathering steel using thickness of corrosion product layer

Shigenobu Kainuma,Yuya Yamamoto,안진희,정영수 국제구조공학회 2018 Structural Engineering and Mechanics, An Int'l Jou Vol.65 No.2

The corrosion environments in a steel structure are significantly different depending on the individual parts of the members. To ensure the safety of weathering steel structures, it is important to evaluate the time-dependent corrosion behavior. Thus, the progress and effect of corrosion damage on weathering steel members should be evaluated; however, the predicted corrosion depth, which is affected by the corrosion environment, has not been sufficiently considered until now. In this study, the time-dependent thicknesses of the corrosion product layer were examined to quantifiably investigate and determine the corrosion depth of the corroded surface according to the exposure periods and corrosion environments. Thus, their atmospheric exposure tests were carried out for 4 years under different corrosion environments. The relationship between the thickness of the corrosion product layers and mean corrosion depth was examined based on the corrosion environment. Thus, the micro corrosion environments on the skyward and groundward surfaces of the specimens were monitored using atmospheric corrosion monitor sensors. In addition, the evaluated mean corrosion depth was calculated based on the thickness of the corrosion product layer in an atmospheric corrosion environment, and was verified through a comparison with the measured mean corrosion depth.

Jumping Pattern Generation for One-Legged Jumping Robot

Akira UMEHARA,Yuya YAMAMOTO,Haruyoshi NISHI,Atsuo TAKANISHI,Hun-ok LIM 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot’s height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.

Evaluation method for time-dependent corrosion depth of uncoated weathering steel using thickness of corrosion product layer

Kainuma, Shigenobu,Yamamoto, Yuya,Ahn, Jin-Hee,Jeong, Young-Soo Techno-Press 2018 Structural Engineering and Mechanics, An Int'l Jou Vol.65 No.2

The corrosion environments in a steel structure are significantly different depending on the individual parts of the members. To ensure the safety of weathering steel structures, it is important to evaluate the time-dependent corrosion behavior. Thus, the progress and effect of corrosion damage on weathering steel members should be evaluated; however, the predicted corrosion depth, which is affected by the corrosion environment, has not been sufficiently considered until now. In this study, the time-dependent thicknesses of the corrosion product layer were examined to quantifiably investigate and determine the corrosion depth of the corroded surface according to the exposure periods and corrosion environments. Thus, their atmospheric exposure tests were carried out for 4 years under different corrosion environments. The relationship between the thickness of the corrosion product layers and mean corrosion depth was examined based on the corrosion environment. Thus, the micro corrosion environments on the skyward and groundward surfaces of the specimens were monitored using atmospheric corrosion monitor sensors. In addition, the evaluated mean corrosion depth was calculated based on the thickness of the corrosion product layer in an atmospheric corrosion environment, and was verified through a comparison with the measured mean corrosion depth.

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.

Selective Inhibition of β-Catenin/Co-Activator Cyclic AMP Response Element-Binding Protein-Dependent Signaling Prevents the Emergence of Hapten-Induced Atopic Dermatitis-Like Dermatitis

( Haruna Matsuda-hirose ),( Tomoko Yamate ),( Mizuki Goto ),( Akira Katoh ),( Hiroyuki Kouji ),( Yuya Yamamoto ),( Takashi Sakai ),( Naoto Uemura ),( Takashi Kobayashi ),( Yutaka Hatano ) 대한피부과학회 2019 Annals of Dermatology Vol.31 No.6

Background: The canonical Wnt/β-catenin signaling pathway is a fundamental regulatory system involved in various biological events. ICG-001 selectively blocks the interaction of β-catenin with its transcriptional co-activator cyclic AMP response element-binding protein (CBP). Recent studies have provided convincing evidence of the inhibitory effects of ICG-001 on Wnt-driven disease models, such as organ fibrosis, cancer, acute lymphoblastic leukemia, and asthma. However, the effects of ICG-001 in atopic dermatitis (AD) have not been investigated. Objective: To investigate whether β-catenin/CBP-dependent signaling was contributed in the pathogenesis of AD and ICG-001 could be a therapeutic agent for AD. Methods: We examined the effects of ICG-001 in an AD-like murine model generated by repeated topical application of the hapten, oxazolone (Ox). ICG-001 or vehicle alone was injected intraperitoneally every day during the development of AD-like dermatitis arising from once-daily Ox treatment. Results: Ox-induced AD-like dermatitis characterized by increases in transepidermal water loss, epidermal thickness, dermal thickness accompanied by increased myofibroblast and mast cell counts, and serum levels of thymic stromal lymphopoietin and thymus and activation- regulated chemokine, and decreases in stratum corneum hydration, were virtually normalized by the treatment with ICG-001. Elevated serum levels of periostin tended to be downregulated, without statistical significance. Conclusion: These results suggest that β-catenin/CBP-dependent signaling might be involved in the pathogenesis of AD and could be a therapeutic target. (Ann Dermatol 31(6) 631∼639, 2019)