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Dexterous motions of Japanese dance by a miniature humanoid robot
Osamu Yuuki,Seiya Yamazaki,Kunihiro Yamada,Naoyuki Kubota 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
First, we discuss about requirements for humanoid robots of Japan. Here, Japanese dance is one of important Japanese cultures. Also, there are many people unfamiliar with Japanese dance in other countries. If they hope to learn Japanese dance, it is very important to instruct such people in Japanese dance. There have been several studies about the system for imitating human dances by using a robot. In this paper, we discuss the availability of robots for the instruction of Japanese dance. Typically, a classical Japanese dance is composed with fluent motions. Therefore, a robot needs to shift the center of gravity smoothly in Japanese dancing. In such a case, we found that ‘Suri-Ashi’ motion was effective. In this study, we focused on the realization of ‘Suri-Ashi’ motion. We researched about ‘Suri-Ashi’ motion from various points. Especially, we investigated points for implementing ‘Suri-Ashi’ motion to a miniature humanoid robot. Finally, we carried out experiments of dexterous motions in Japanese dancing by using a miniature humanoid robot.
Yamazaki, Takeshi,Takeda, Hisato,Hagiya, Koichi,Yamaguchi, Satoshi,Sasaki, Osamu Asian Australasian Association of Animal Productio 2018 Animal Bioscience Vol.31 No.10
Objective: Because lactation periods in dairy cows lengthen with increasing total milk production, it is important to predict individual productivities after 305 days in milk (DIM) to determine the optimal lactation period. We therefore examined whether the random regression (RR) coefficient from 306 to 450 DIM (M2) can be predicted from those during the first 305 DIM (M1) by using a RR model. Methods: We analyzed test-day milk records from 85,690 Holstein cows in their first lactations and 131,727 cows in their later (second to fifth) lactations. Data in M1 and M2 were analyzed separately by using different single-trait RR animal models. We then performed a multiple regression analysis of the RR coefficients of M2 on those of M1 during the first and later lactations. Results: The first-order Legendre polynomials were practical covariates of RR for the milk yields of M2. All RR coefficients for the additive genetic (AG) effect and the intercept for the permanent environmental (PE) effect of M2 had moderate to strong correlations with the intercept for the AG effect of M1. The coefficients of determination for multiple regression of the combined intercepts for the AG and PE effects of M2 on the coefficients for the AG effect of M1 were moderate to high. The daily milk yields of M2 predicted by using the RR coefficients for the AG effect of M1 were highly correlated with those obtained by using the coefficients of M2. Conclusion: Milk production after 305 DIM can be predicted by using the RR coefficient estimates of the AG effect during the first 305 DIM.
Yamazaki, Tomoaki,Yin, Rui,Kawaguchi, Seisuke,Hayasaka, Hirotatsu,Matsumoto, Toshiyuki,Ichikizaki, Osamu,Kanazawa, Takashi Korean Institute of Industrial Engineers 2012 Industrial Engineeering & Management Systems Vol.11 No.3
Environments surrounding production sites have changed greatly in recent years. Accommodating environmental changes calls for the design and development of information systems that center on production lines. There is a need for a training program that teaches learners to understand the particulars of an operation and apply that knowledge to an information system. In this research, we used material requirements planning (MRP) as the subject for which basic skills are to be taught and developed an MRP exercise-based training program. The program is designed for 13 lectures of 90 minutes each, and it consists of MRP exercises, modeling methods to represent them, the use of a programming language for system development, and finally, evaluation of the exercises. Lecture materials are described in 505 lecture slides using Microsoft PowerPoint to allow visualization of topics through graphs and models. The developed training program was then delivered to 86 college students, and its results were measured through quizzes to verify educational effectiveness.
Tomoaki Yamazaki,Rui Yin,Seisuke Kawaguchi,Hirotatsu Hayasaka,Toshiyuki Matsumoto,Osamu Ichikizaki,Takashi Kanazawa 대한산업공학회 2012 Industrial Engineeering & Management Systems Vol.11 No.3
Environments surrounding production sites have changed greatly in recent years. Accommodating environmental changes calls for the design and development of information systems that center on production lines. There is a need for a training program that teaches learners to understand the particulars of an operation and apply that knowledge to an information system. In this research, we used material requirements planning (MRP) as the subject for which basic skills are to be taught and developed an MRP exercise-based training program. The program is designed for 13 lectures of 90 minutes each, and it consists of MRP exercises, modeling methods to represent them, the use of a programming language for system development, and finally, evaluation of the exercises. Lecture materials are described in 505 lecture slides using Microsoft PowerPoint to allow visualization of topics through graphs and models. The developed training program was then delivered to 86 college students, and its results were measured through quizzes to verify educational effectiveness.
Vachel, Laura,Shcheynikov, Nikolay,Yamazaki, Osamu,Fremder, Moran,Ohana, Ehud,Son, Aran,Shin, Dong Min,Yamazaki-Nakazawa, Ai,Yang, Chin-Rang,Knepper, Mark A.,Muallem, Shmuel AAAS 2018 Science signaling Vol.11 No.554
<P><B>Combinations to regulate Cl<SUP>−</SUP> signaling</B></P><P>The secretion of HCO<SUB>3</SUB><SUP>−</SUP>-containing fluids is vital to the function of all epithelia and is enabled in part by the activity of the Na<SUP>+</SUP>-coupled HCO<SUB>3</SUB><SUP>−</SUP> transporter NBCe1-B. Vachel <I>et al</I>. identified five serine residues in NBCe1-B whose phosphorylation status was controlled by the regulatory protein IRBIT. The phosphorylation status of Ser<SUP>12</SUP> and Ser<SUP>65</SUP> affected the Cl<SUP>−</SUP> sensitivity of two intracellular Cl<SUP>−</SUP>-sensing motifs. Moreover, IRBIT recruited a distinct kinase/phosphatase pair for each serine residue. The three remaining phosphorylation sites were phosphorylated in distinct combinations that determined the relative basal activity level of NBCe1-B and the potential for further activation by IRBIT. These results demonstrate how distinct phosphorylation patterns may enable epithelial cells to fine-tune the HCO<SUB>3</SUB><SUP>−</SUP> transport activity of NBCe1-B in response to varying conditions in different parts of the organ.</P><P>IRBIT is a multifunctional protein that controls the activity of various epithelial ion transporters including NBCe1-B. Interaction with IRBIT increases NBCe1-B activity and exposes two cryptic Cl<SUP>−</SUP>-sensing GXXXP sites that enable regulation of NBCe1-B by intracellular Cl<SUP>−</SUP> (Cl<SUP>−</SUP><SUB>in</SUB>). Here, phosphoproteomic analysis revealed that IRBIT controlled five phosphorylation sites in NBCe1-B that determined both the active conformation of the transporter and its regulation by Cl<SUP>−</SUP><SUB>in</SUB>. Mutational analysis suggested that the phosphorylation status of Ser<SUP>232</SUP>, Ser<SUP>233</SUP>, and Ser<SUP>235</SUP> was regulated by IRBIT and determined whether NBCe1 transporters are in active or inactive conformations. The absence of phosphorylation at Ser<SUP>232</SUP>, Ser<SUP>233</SUP>, or Ser<SUP>235</SUP> produced NBCe1-B in the conformations pSer<SUP>233</SUP>/pSer<SUP>235</SUP>, pSer<SUP>232</SUP>/pSer<SUP>235</SUP>, or pSer<SUP>232</SUP>/pSer<SUP>233</SUP>, respectively. The activity of the pSer<SUP>233</SUP>/pSer<SUP>235</SUP> form was similar to that of IRBIT-activated NBCe1-B, but it was insensitive to inhibition by Cl<SUP>−</SUP><SUB>in</SUB>. The properties of the pSer<SUP>232</SUP>/pSer<SUP>235</SUP> form were similar to those of wild-type NBCe1-B, whereas the pSer<SUP>232</SUP>/pSer<SUP>233</SUP> form was partially active, further activated by IRBIT, but retained inhibition by Cl<SUP>−</SUP><SUB>in</SUB>. Furthermore, IRBIT recruited the phosphatase PP1 and the kinase SPAK to control phosphorylation of Ser<SUP>65</SUP>, which affected Cl<SUP>−</SUP><SUB>in</SUB> sensing by the <SUP>32</SUP>GXXXP<SUP>36</SUP> motif. IRBIT also recruited the phosphatase calcineurin and the kinase CaMKII to control phosphorylation of Ser<SUP>12</SUP>, which affected Cl<SUP>−</SUP><SUB>in</SUB> sensing by the <SUP>194</SUP>GXXXP<SUP>198</SUP> motif. Ser<SUP>232</SUP>, Ser<SUP>233</SUP>, and Ser<SUP>235</SUP> are conserved in all NBCe1 variants and affect their activity. These findings reveal how multiple kinase and phosphatase pathways use phosphorylation sites to fine-tune a transporter, which have important implications for epithelial fluid and HCO<SUB>3</SUB><SUP>−</SUP> secretion.</P>
Shcheynikov, Nikolay,Son, Aran,Hong, Jeong Hee,Yamazaki, Osamu,Ohana, Ehud,Kurtz, Ira,Shin, Dong Min,Muallem, Shmuel National Academy of Sciences 2015 PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF Vol.112 No.3
<P>Cl- is a major anion in mammalian cells involved in transport processes that determines the intracellular activity of many ions and plasma membrane potential. Surprisingly, a role of intracellular Cl- (Cl-in(-)) as a signaling ion has not been previously evaluated. Here we report that Cl-in(-) functions as a regulator of cellular Na+ and HCO3- concentrations and transepithelial transport through modulating the activity of several electrogenic Na+-HCO3- transporters. We describe the molecular mechanism(s) of this regulation by physiological Cl-in(-) concentrations highlighting the role of GXXXP motifs in Cl-sensing. Regulation of the ubiquitous Na+-HCO3- co-transport (NBC)e1-B is mediated by two GXXXP-containing sites; regulation of NBCe2-C is dependent on a single GXXXP motif; and regulation of NBCe1-A depends on a cryptic GXXXP motif. In the basal state NBCe1-B is inhibited by high Cl-in(-) interacting at a low affinity GXXXP-containing site. IP3 receptor binding protein released with IP3 (IRBIT) activation of NBCe1-B unmasks a second high affinity Cl-in(-) interacting GXXXP-dependent site. By contrast, NBCe2-C, which does not interact with IRBIT, has a single high affinity N-terminal GXXP-containing Cl-in(-) interacting site. NBCe1-A is unaffected by Cl-in(-) between 5 and 140 mM. However, deletion of NBCe1-A residues 29-41 unmasks a cryptic GXXXP-containing site homologous with the NBCe1-B low affinity site that is involved in inhibition of NBCe1-A by Cl-in(-). These findings reveal a cellular Cl-in(-) sensing mechanism that plays an important role in the regulation of Na+ and HCO3- transport, with critical implications for the role of Cl-in(-) cellular ion homeostasis and epithelial fluid and electrolyte secretion.</P>