Sensor-less grasping control on two-fingered robot hands

Akira Shimada,Kenichi Sonoda,Yuki Satoh 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper introduces a sensor-less grasping control technique for two finger robot hands. Each finger of the prototype of hands consists of two links driven by electrical motors and mechanical spring is mounted on each joint. That is the fingers can move and realize intended poses against the force of springs. But it causes the necessary condition of observability and we can design an observer in order to estimate the joint angles of fingers. The basic principle and a few brief applications of the sensor-less control technique was already presented by Shimada et.al, but our reserch is extended to practical robot hand systems in this paper. Although rotary encoders are mounted on all of joints, they are used not to control but only to detect the joint angles in order to evaluate the presented sensor-less control technique.

EFFECT OF MILK YIELD ON GROWTH OF MULTIPLE CALVES IN JAPANESE BLACK CATTLE (WAGYU)

Shimada, K.,Izaike, Y.,Suzuki, O.,Kosugiyama, M.,Takenouchi, N.,Ohshima, K.,Takahashi, M. Asian Australasian Association of Animal Productio 1992 Animal Bioscience Vol.5 No.4

An experiment was conducted to examine the feasibility of producing multiple calves using embryo transfer in Japanese Black cattle. Milk yield of cows and forage intake of calves were measured for 11 cows with single calves, 14 cows with twins and one cow with triplets. The means of 26 weeks cumulative milk yield were 854, 1028 and 1271 kg for cows having singles, twins and triplets, respectively. Male birth weights for single calves, twins and triplet were 34.9, 26.6 and 19.9 kg, and female ones were 31.7, 24.1 and 22.1 kg, respectively. Weight and daily gain of calves were affected by weeks (W), sex (S), the number of calves (N), parity, birth season, $W{\times}N$, $S{\times}N$ and regression on milk yield. Growth rate was higher for single calves than for twins until about 9 weeks of age, then weights increased at a similar rate. Male calf weaning weights for singles, twins and triplets were 207.0, 177.1 and 162.2 kg, and those for females were 185.4, 151.6 and 180.4 kg, respectively. Average regression coefficients of calf growth on milk yield were significant, and single calf was affected more than twin calves by increment of milk yield. As the number of calves per cow increased, hay intake of calves decreased and concentrate intake tended to increase between 6 and 13 weeks of age.

DIRECT, MATERNAL AND CYTOPLASMIC GENETIC EFFECTS ON DAILY GAIN FROM BIRTH TO 45 DAYS OF BEEF CALVES

Shimada, K.,Willham, R.L. Asian Australasian Association of Animal Productio 1992 Animal Bioscience Vol.5 No.3

Variance components were estimated for calf daily gain from birth to 45 days of age in small (S), medium (M) and large (L) lines of beef cattle. Analyses involved records collected on 682 (S), 510 (M) and 228 (L) calves in Iowa, USA from 1978 to 1986. Cytoplasmic lines were determined based on the foundation female in the maternal lineage of each animal. Data were analyzed separately by size line using a derivative-free restricted maximum likelihood procedure under an animal model including additive direct (a), additive maternal (m), cytoplasmic lineage effects and covariance (a, m). The heritabilities for direct and maternal, and the cytoplasmic effects, were 0.13, 0.35 and 0.00 for S, 0.14, 0.32 and 0.00 for M, and 0.05, 0.33 and 0.03 for L. Genetic correlations (a, m) for S, M and L were -0.33, -0.57 and -1.00, respectively. The maternal genetic effect was the most important for calf growth between birth and 45 dyas of age and cytoplasmic variances were not important in any line.

A NEW LIBERALISM, CONSENSUS, AND AMERICAN HISTOR1ANS : Contemporaneity of Neo-Conservative Historiography

Shimada, Masugi 한국아메리카학회 1985 美國學論集 Vol.16 No.-

MILK YIELD AND ITS REPEATABILITY IN JAPANESE BLACK COWS

Shimada, K.,Izaike, Y.,Suzuki, O.,Oishi, T.,Kosugiyama, M. Asian Australasian Association of Animal Productio 1988 Animal Bioscience Vol.1 No.1

Daily milk yield estimates were obtained on 74 lactations of 35 Japanese Black cows on weeks 1 to 9, 11, 13, 17, 21 and 26 postpartum using the weigh-suckle-weigh method. The data obtained were analyzed by least-squares procedures according to the models including the following effects; dam, lactation number, season of calving, week of experiment and partial regressions on the lactation number. The overall mean and standard error for daily milk yield was $4.55{\pm}0.04\;kg$. The milk yield declined essentially linearly throughout the experimental period. The main effects of lactation number, season of calving and week of experiment were highly significant. Differences in daily milk yield among cows were significant, and the repeatability was estimated as $0.60{\pm}0.06$. The overall means(kg) and repeat-abilities of cumulative milk yield for 1, 4, 9, 13, 17, 21 and 26 weeks postpartum were 41, 0.08; 166, 0.40; 361, 0.61; 503, 0.66; 632, 0.67; 749, 0.65 and 884, 0.58; respectively. The means of calf weight at birth and 26 weeks weight for different lactations ranged from 25.5 to 33.6 kg and 145.6 to 185.4 kg, respectively. Calf daily gains between experiment weeks were low in earlier stages of lactation.

Trial to Evaluate Wettability of Liquid Zn with Steel Sheets Containing Si and Mn

Shimada, Shunsuke,Takada, Yoshihisa,Lee, Joonho,Tanaka, Toshihiro The Iron and Steel Institute of Japan 2008 ISIJ international Vol.48 No.9

<P>Since it has been pointed out that liquid Zn alloy sometimes exhibits non-wetting behavior on high-tensile strength steels usually containing Si and Mn, there have been several studies to improve the wettability of liquid Zn. Although those studies evaluated the wettability qualitatively by observation of the surface of galvanized steels or exfoliation testing of Zn on steel substrates, it is further required to evaluate the wettability of liquid Zn on steels by measuring the contact angle, work of adhesion, spreading velocity <I>etc.</I> which are usually used to assess the general wetting behavior. In the present work, we applied a sessile drop method to measure the change in contact angle and diameter of liquid Zn droplets wetted on steels containing Si and Mn with time to evaluate quantitatively the dynamic wetting behavior of liquid Zn on steel substrates.</P>

ON THE RICCI TENSORS OF PARTICULAR FINSLER SPACES

SHIMADA, HIDEO Korean Mathematical Society 1977 대한수학회지 Vol.14 No.1

Inhibition of Carcinogen-Activating Cytochrome P450 Enzymes by Xenobiotic Chemicals in Relation to Antimutagenicity and Anticarcinogenicity

Shimada, Tsutomu Korean Society of ToxicologyKorea Environmental Mu 2017 Toxicological Research Vol.33 No.2

A variety of xenobiotic chemicals, such as polycyclic aromatic hydrocarbons (PAHs), aryl- and heterocyclic amines and tobacco related nitrosamines, are ubiquitous environmental carcinogens and are required to be activated to chemically reactive metabolites by xenobiotic-metabolizing enzymes, including cytochrome P450 (P450 or CYP), in order to initiate cell transformation. Of various human P450 enzymes determined to date, CYP1A1, 1A2, 1B1, 2A13, 2A6, 2E1, and 3A4 are reported to play critical roles in the bioactivation of these carcinogenic chemicals. In vivo studies have shown that disruption of Cyp1b1 and Cyp2a5 genes in mice resulted in suppression of tumor formation caused by 7,12-dimethylbenz[a]anthracene and 4-(methylnitrosamino)-1-(3-pyridyl)-1-butanone, respectively. In addition, specific inhibitors for CYP1 and 2A enzymes are able to suppress tumor formation caused by several carcinogens in experimental animals in vivo, when these inhibitors are applied before or just after the administration of carcinogens. In this review, we describe recent progress, including our own studies done during past decade, on the nature of inhibitors of human CYP1 and CYP2A enzymes that have been shown to activate carcinogenic PAHs and tobacco-related nitrosamines, respectively, in humans. The inhibitors considered here include a variety of carcinogenic and/or non-carcinogenic PAHs and acethylenic PAHs, many flavonoid derivatives, derivatives of naphthalene, phenanthrene, biphenyl, and pyrene and chemopreventive organoselenium compounds, such as benzyl selenocyanate and benzyl selenocyanate; o-XSC, 1,2-, 1,3-, and 1,4-phenylenebis(methylene)selenocyanate.

Developmental and age-related changes of peptidylarginine deiminase 2 in the mouse brain

Shimada, Nobuko,Handa, Setsuko,Uchida, Yoshiaki,Fukuda, Mitsugu,Maruyama, Naoki,Asaga, Hiroaki,Choi, Eun-Kyoung,Lee, Jaewon,Ishigami, Akihito Wiley Subscription Services, Inc., A Wiley Company 2010 Journal of neuroscience research Vol.88 No.4

<P>Peptidylarginine deiminases (PADs) are a group of posttranslational modification enzymes that citrullinate (deiminate) protein arginine residues in a Ca<SUP>2+</SUP>-dependent manner. Enzymatic citrullination abolishes positive charges of native protein molecules, inevitably causing significant alterations in their structure and functions. Among the five isoforms of PADs, PAD2 and PAD4 are proved occupants of the central nervous system (CNS), and especially PAD2 is a main PAD enzyme expressed in the CNS. We previously reported that abnormal protein citrullination by PAD2 has been closely associated with the pathogenesis of neurodegenerative disorders such as Alzheimer's disease and prion disease. Protein citrullination in these patients is thought to play a role during the initiation and/or progression of disease. However, the contribution of changes in PAD2 levels, and consequent citrullination, during developmental and aging processes remained unclear. Therefore, we used quantitative real-time RT-PCR, Western blot analysis, and immunohistochemical methods to measure PAD2 expression and localization in the brain during those processes. PAD2 mRNA expression was detected in the brains of mice as early as embryonic day 15, and its expression in cerebral cortex, hippocampus, and cerebellum increased significantly as the animals aged from 3 to 30 months old. No citrullinated proteins were detected during that period. Moreover, we found here, for the first time, that PAD2 localized specifically in the neuronal cells of the cerebral cortex and Purkinje cells of the cerebellum. These findings indicate that, despite PAD2's normally inactive status, it becomes active and citrullinates cellular proteins, but only when the intracellular Ca<SUP>2+</SUP> balance is upset during neurodegenerative changes. © 2009 Wiley-Liss, Inc.</P>

Lifetime Risk Assessment of Lung Cancer Incidence for Nonsmokers in Japan Considering the Joint Effect of Radiation and Smoking Based on the Life Span Study of Atomic Bomb Survivors

Shimada, Kazumasa,Kai, Michiaki The Korean Association for Radiation Protection 2021 방사선방어학회지 Vol.46 No.3

Background: The lifetime risk of lung cancer incidence due to radiation for nonsmokers is overestimated because of the use of the average cancer baseline risk among a mixed population, including smokers. In recent years, the generalized multiplicative (GM)-excess relative risk (ERR) model has been developed in the life span study of atomic bomb survivors to consider the joint effect of radiation and smoking. Based on this background, this paper discusses the issues of radiation risk assessment considering smoking in two parts. Materials and Methods: In Part 1, we proposed a simple method of estimating the baseline risk for nonsmokers using current smoking data. We performed sensitivity analysis on baseline risk estimation to discuss the birth cohort effects. In Part 2, we applied the GM-ERR model for Japanese smokers to calculate lifetime attributable risk (LAR). We also performed a sensitivity analysis using other ERR models (e.g., simple additive (SA)-ERR model). Results and Discussion: In Part 1, the lifetime baseline risk from mixed population including smokers to nonsmokers decreased by 54% (44%-60%) for males and 24% (18%-29%) for females. In Part 2, comparison of LAR between SA- and GM-ERR models showed that if the radiation dose was ≤200 mGy or less, the difference between these ERR models was within the standard deviation of LAR due to the uncertainty of smoking information. Conclusion: The use of mixed population for baseline risk assessment overestimates the risk for lung cancer due to low-dose radiation exposure in Japanese males.