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Manipulation of 2D Object with Arbitrary Shape by Robot Finger under Rolling Constraint
Morio Yoshida,Suguru Arimoto,Kenji Tahara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler- Lagrange’ equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.
Morio Yoshie APEC국제교육협력원 2008 Asia-Pacific Cybereducation Journal Vol.4 No.1
This paper reports on an experiment spanning 3 years that was conducted to gain an insight into the state of distance education in the doctoral program of a school of education. There is also a description of the structure of the information and communication network used in the courses. Distance education in graduate schools can be expected to be effective for the research guidance of both on-campus and off-campus students. The network requires confidentially, moving images that convey the expressions of others, clear audio, sharing of images, and the ability for participants to control communications, among other things.
Sacropelvic Parameters and L5 Spondylolysis: Computed Tomography Analysis
Matsumoto Morio 대한척추외과학회 2022 Asian Spine Journal Vol.16 No.1
Study Design: Retrospective analysis of computed tomography scans.Purpose: This study aims to determine the association of sagittal sacropelvic parameters with L5 spondylolysis.Overview of Literature: The association of increased pelvic incidence (PI) and decreased sacral table angle (STA) with spondylolysis has been reported, but no study has simultaneously analyzed multiple sacropelvic variables to compare their association.Methods: In this study, computed tomography scans obtained to assess major trauma in patients aged >16 years were analyzed. Scans meeting one of the following criteria were excluded: abnormal anatomy, previous spine or hip/pelvis surgery, or spinal pathology, including deformity, infection, tumor, or trauma. sacral anatomic orientation (SAO), PI, pelvic thickness (PTH), femoro-sacral posterior angle (FSPA), STA, and sacral kyphosis (SK) were measured.Results: Overall, 202 scans were analyzed: 25 with L5 spondylolysis and 177 normal. Among the groups, a significant difference was observed in SAO (43.3° vs. 51.6°), PI (61.7° vs. 49.8°), STA (95.4° vs. 101.8°), and SK (31.0° vs. 23.7°). Based on the logistic regression analysis, only PI (odds ratio [OR], 1.074; 95% CI, 1.026–1.124) and STA (OR, 0.822; 95% CI, 0.734–0.920) remained significant predictors for the presence of spondylolysis. In the spondylolysis group, PI correlated significantly with PTH (r=−0.589), FSPA (r=0.880), and SK (r=0.576), whereas in the normal group, PI correlated significantly with FSPA (r=0.781) and SK (r=0.728).Conclusions: By simultaneously assessing multiple sacropelvic parameters, we associated increasing PI with L5 spondylolysis. Decreasing STA, which likely represents a chronic remodeling secondary to spondylolysis, was also associated with increased risk. Back pain in an adolescent or young adult with high PI or low STA should raise suspicion of a possible occult spondylolysis.