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Real-time Optimized Obstacle Avoidance for Robotic Vehicles
Shunya Kobayashi,KenichiroNonaka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recently, mobile indoor robots have been intensively studied. When such mobile robots are operated, it is necessary to generate their trajectory automatically. In this study, a system which automatically generates the target trajec-tory avoiding obstacles in the indoor environment by real-time optimization is developed. Conventional artificial potential field method directly generates force which leads vehicles, however, it sometimes cause steep change of moving direc-tion. To resolve this problem, we generatean optimal obstacle avoidance trajectory indirectly by real-time optimization based on modified artificial potential field. To deal with the tracking error and its convergence, we introduce time-state control for mand transform this problem into atracking control problem. The trajectory is represented by are duced order polynomial function to minimize the computational cost. Experiments using omnidirectional vehicle verify the advantage of this method.
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Takada Shunya,Tsunoda Akira,Takahashi Tomoko,Kusanagi Hiroshi 대한대장항문학회 2022 Annals of Coloproctolgy Vol.38 No.4
Purpose: Aluminum potassium sulfate and tannic acid (ALTA; Zion, Mitsubishi Pharma Corp.) is an effective sclerosing agent for internal hemorrhoids. ALTA therapy with a rectal mucopexy (AM) is a new approach for treating hemorrhoidal prolapse. This study compared the early postoperative outcomes of AM surgery with Doppler-guided transanal hemorrhoidal dearterialization and mucopexy (DM) in patients with third-degree hemorrhoids. Methods: AM surgery was performed on 32 patients with grade III hemorrhoids and was compared with a cohort of 22 patients who underwent DM surgery in a previous randomized controlled trial. Results: The pain scores during defecation were significantly lower in the AM patients beginning 4 days after surgery. The total use of analgesics 2 weeks postoperatively was significantly lower in the AM patients than in the DM patients (3.5 tablets [range 1.6–5.5] vs. 7.6 tablets [range 3.3–11.9], P=0.04). The length of operation, blood loss, and incidence of postoperative complications were significantly lower in the AM patients than in the DM patients. During 12 months follow-up, recurrence of prolapse occurred in 1 patient who underwent AM surgery. Conclusion: AM surgery is effective, with lower complication rates and postoperative analgesic requirements, and is a less invasive treatment for patients with grade III hemorrhoids compared to DM surgery.
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Radial Basis Function Neural Network Based PID Control for Quad-rotor Flying Robot
Shoji Furukawa,Shunya Kondo,Atuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
It is difficult for flying robots with a conventional PID controller to fly stably with external disturbances such as wind. Thus, a flight control method that can change the control parameters of a conventional PID controller according to the external disturbances is described in this paper. The control parameters of the PID controller are automatically adjusted based on a radial basis function neural network (RBFNN). The experimental results show that the control method is capable of effectively dealing with external disturbances.
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Miho Kato,Shunya Hayashi,Yuji Tasaki 한국버섯학회 2017 버섯 Vol.21 No.2
Tricholoma matsutake is a representative mushroom species with a characteristic pleasant aroma. The characteristic aroma component is methyl cinnamate, which is also produced in many plants. In basil, cinnamic acid is produced from l-phenylalanine (l-Phe) by phenylalanine ammonia-lyase (PAL) and converted to methyl cinnamate by a cinnamate/p-coumarate carboxyl methyltransferase. Two PAL genes, Tmpal1 and Tmpal2, have been isolated from T. matsutake. In this study, we aimed to clarify the relationships between l-Phe, methyl cinnamate production, and PAL expression in the mycelium of T. matsutake strain NBRC 30605. For this purpose, methyl cinnamate content, PAL activity, and transcript levels of Tmpal1 and Tmpal2 were examined in the mycelia of T. matsutake supplemented with l-Phe. The mycelia were cultured in 20 mL of a liquid medium (2% glucose, 0.15% yeast extract, and 0.15% Bacto Soytone) at 20 °C for 45 d, supplemented with 0.5-6 mM l-Phe, and then grown for a further 15 d. Mycelia cultured without l-Phe supplementation for 60 d in the medium were used as a control. Crude extracts were prepared from the mycelia harvested for enzymatic, protein, and methyl cinnamate assays. Methyl cinnamate was measured using gas chromatography. PAL activity was assayed by measuring the rate of trans-cinnamic acid formation as the absorbance at 290 nm (ɛ290 = 10,000 M−1 cm−1). The transcript levels of Tmpal1 and Tmpal2 were examined by performing real-time reverse transcriptase-quantitative PCR on the total RNA. Methyl cinnamate was detected in very low levels in cultures without l-Phe supplementation, but its content per mg of protein increased markedly with increasing concentrations of l-Phe, especially at 4-6 mM. When 6 mM l-Phe was added to the culture medium, the methyl cinnamate content was approximately 55-fold higher than that of the control sample. The specific activity of PAL also increased in cultures supplemented with l-Phe, especially at 4-6 mM. When l-Phe was added to the culture medium, the methyl cinnamate content in the mycelia was relatively well correlated with PAL activity. These results indicated that supplementation with l-Phe, a precursor of methyl cinnamate, increases the specific activity of PAL, leading to an increase in methyl cinnamate production in the mycelia of T. matsutake. The transcript level of Tmpal1 did not change markedly with l-Phe supplementation. In contrast, the transcript level of Tmpal2 increased greatly in cultures supplemented with 4-6 mM l-Phe. These results suggested that the expression of Tmpal1 and Tmpal2 was controlled by different regulatory mechanisms and that they may have different biological functions in T. matsutake. In addition, the pattern of PAL activity in the presence of l-Phe was similar to that of the transcript level of Tmpal2, but not Tmpal1, suggesting that the increase in PAL activity was dependent on the increased transcription of Tmpal2.
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Biochemical Properties of Two Lipoxygenases from Pleurotus ostreatus
Mio Kobayashi,Shunya Hayashi,Yuji Tasaki 한국버섯학회 2017 버섯 Vol.21 No.2
The characteristic aroma of mushrooms is one of their attractive elements as food materials. The major aroma compound in most mushrooms is 1-octen-3-ol. The biosynthesis of 1-octen-3-ol starts with the oxidation of linoleic acid by lipoxygenase (LOX). The resultant intermediate hydroperoxide is then cleaved by hydroperoxide lyase. LOX is a non-heme iron-containing dioxygenase widely found in plants, animals, fungi, and bacteria. It catalyzes the insertion of molecular oxygen into polyunsaturated fatty acids containing Z,Z-1,4-pentadiene moieties, such as linoleic acid, linolenic acid, and arachidonic acid, yielding the corresponding hydroperoxides. Two LOX genes, Polox1 and Polox2, have been isolated from P. ostreatus, which has higher LOX activity than other edible mushrooms. Polox1 and Polox2 were found to show different expression patterns during the development of the fruiting body. However, the biochemical properties of PoLOX1 and PoLOX2, encoded by Polox1 and Polox2, respectively, have been not fully elucidated. In this study, we engineered these two LOX genes of P. ostreatus into a heterologous host, Escherichia coli, and characterized the recombinant proteins. The coding regions of Polox1 and Polox2 were amplified by RT-PCR from the total RNA of P. ostreatus PC15 mycelia. The RT-PCR products were digested with appropriate restriction enzymes and ligated into an expression vector (pET-16b). The resultant plasmids were introduced into E. coli BL21 (DE3) via transformation. Polox1 and Polox2 were then expressed by induction at 15°C with 0.4 mM IPTG for 18 h. The cells were harvested by centrifugation and resuspended in 10 mM potassium phosphate buffer (pH 7.0). The cell suspension was sonicated and again centrifuged at 15,000 ×g for 20 min at 4 °C. The resultant cell-free extract was used for subsequent experiments. Recombinant PoLOX1 and PoLOX2 were confirmed by SDS-PAGE analysis of the cell-free extract. PoLOX1 and PoLOX2 were estimated to have molecular weights of approximately 76,000 Da and 78,000 Da, respectively. The LOX activity was determined with linoleic acid as a substrate by a spectrophotometric procedure based on the formation of conjugated dienes. To characterize the biochemical properties of PoLOX1 and PoLOX2, in vitro enzymatic assays were performed using the total cell protein from E. coli expressing the two Polox genes, with linoleic acid as a substrate. The optimum pH of recombinant PoLOX1 and PoLOX2 was 7.5 and 5.5, respectively; the optimum temperatures of recombinant PoLOX1 and PoLOX2 were 55 °C and 30 °C, respectively. Recombinant PoLOX1 and PoLOX2 were stable at pH 5.0-9.0 and 6.0-8.0, respectively; recombinant PoLOX1 and PoLOX2 were relatively stable below 50 °C and 40 °C, respectively. Thus, PoLOX1 had higher thermal and pH stability than PoLOX2. The calculated Km values of PoLOX1 and PoLOX2 were 121 μM and 249 μM, respectively. The calculated Vmax values of PoLOX1 and PoLOX2 were 17.2 μmol/mg・min and 17.5 μmol/mg・min, respectively. These results indicated that PoLOX1 had a higher affinity for linoleic acid than PoLOX2. Collectively, our findings suggested that there were some differences between the biochemical properties of PoLOX1 and PoLOX2.
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Development of DC Linear Permanent Magnet Machine Based on Multi-Layered Core-less Structure
Tomoyuki Shimono,Shunya Takano,Hiroshi Asai 전력전자학회 2019 ICPE(ISPE)논문집 Vol.2019 No.5
In this paper, a new DC linear permanent magnet machine (LPMM) with multi-layered structure is proposed. This motor can realize high thrust density in the middle layer owing to the core-less structure. Since it alternately stacks permanent magnet modules and winding modules, it can adjust the thrust characteristics by changing the number of layers. In this paper, the basic concept of the proposed motor is firstly introduced. Secondly, the mathematical modelling of the proposed motor is shown. Then, the FEM analysis verifies the stacking effect in the multi-layered structure. Furthermore, the prototype is shown and the proposed motor is validated by experimental results. The observed difference among mathematical results, analysis results, and experimental results is discussed.
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Nohta, Hitoshi,Noma, Shunya,Ohkura, Yosuke,Yoo, Beong-Tae 충남대학교 약학대학 의약품개발연구소 1985 藥學論文集 Vol.1 No.-
A highly sensitive method for the assay of catechol-O-methyltransferase in erythrocytes is described, which employs high-performance liquid chromatography with fluorescence detection. A newly synthesized catechol compound, 2-(3,4-dihydroxyphenyl)naptho[1,2-d]-thiazole is used as a highly fluorogenic substrate for catechol-O-methyltransferase; the m-and p-methylated products formed enzymatically from the substrate under the optimum conditions, after extraction with n-hexane-chloroform, are separated by normal-phase chromatography on LiChrosorb Si 100. The limits of detection for m-and p-methylated products are 3 pmol per assay tube (60 fmol per injection volume of 20 ㎕) in each case. The ratio of m-and p-methylated products was 0.54. This method requires as little as 50㎕ of human erythrocytes.
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