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Walking Control of a Compass-like Biped Robot with a Constraint Mechanism
Hodaka Kato,Toshiyuki Ohtsuka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.
Suguru Odajima,Toshiyuki Seki,Sayako Kato,Keisuke Tomita,Yuichi Shoburu,Eitaro Suzuki,Masataka Takenaka,Motoaki Saito,Hirokuni Takano,Kyosuke Yamada,Aikou Okamoto 대한부인종양학회 2022 Journal of Gynecologic Oncology Vol.33 No.5
Objective: Direct oral anticoagulants (DOACs) are increasingly being used for the treatment of cancer-associated venous thromboembolism (CAT). However, there is limited evidence of the efficacy of DOACs for the treatment of gynecological CAT. Thus, this study aimed to investigate the efficacy and safety of edoxaban for the treatment of gynecological CAT using Japanese real-world data. Methods: We reviewed the medical records of patients with 371 gynecological cancer who received edoxaban or vitamin K antagonist (VKA) between January 2011 and December 2018. Results: Altogether, 211 and 160 patients were treated with edoxaban and VKA, respectively. Fourteen patients (6.8%) in the edoxaban group and 22 (13.8%) in the VKA group showed recurrence of venous thromboembolism (VTE). Cumulative VTE recurrence was not significantly different between the 2 groups (p=0.340). Adverse events occurred in 15 (7.1%) and 11 (6.9%) patients in the edoxaban and VKA groups, respectively (p=0.697). Subgroup analysis of the edoxaban and VKA groups according to different tumor types, including ovarian, endometrial, and cervical cancer, showed equivalent outcomes in terms of VTE recurrence and adverse events. Patients without pulmonary embolism (PE) were mostly omitted from initial unfractionated heparin (UFH) therapy prior to administration of edoxaban. However, this did not increase the recurrence of VTE. Conclusion: This study confirmed that edoxaban is effective and safe for the treatment of gynecological CAT. This finding was consistent for different types of gynecological cancer. Additionally, initial UFH therapy prior to the administration of edoxaban may be unnecessary for patients without PE.
4-DIMENSIONAL DIGITAL UNIVERSE PROJECT
KOKUBO EUCHIRO,HAYASHI MITSURU,KATO TSUNEHIKO,TAKEDA TAKAAKI,KAIFU NORIO,MIYAMA SHOKEN,MIURA HITOSHI,TAKAHEI TOSHIYUKI The Korean Astronomical Society 2005 Journal of The Korean Astronomical Society Vol.38 No.2
We have developed the four-dimensional digital universe theater at which we can visualize the observational data and theoretical models of astronomical objects stereoscopically. The astronomical objects cover all scales of the universe from the solar system to the large-scale structure of the universe. We have also produced the three-dimensional movies of various astronomical processes based on the results of computer simulations. We plan to distribute all the products of this project through the internet.
Karthik Paneer Selvam,Taichi Nagahata,Kosuke Kato,Mayuko Koreishi,Toshiyuki Nakamura,Yoshimasa Nakamura,Takeshi Nishikawa,Ayano Satoh,Yasuhiko Hayashi 한국생체재료학회 2020 생체재료학회지 Vol.24 No.4
Background: Conductive sheets of cellulose and carbon nanomaterials and its human skin applications are an interesting research aspect as they have potential for applications for skin compatibility. Hence it is needed to explore the effects and shed light on these applications. Method: To fabricate wearable, portable, flexible, lightweight, inexpensive, and biocompatible composite materials, carbon nanohorns (CNHs) and hydroxyethylcellulose (HEC) were used as precursors to prepare CNH-HEC (Cnh-cel) composite sheets. Cnh-cel sheets were prepared with different loading concentrations of CNHs (10, 20 50,100 mg) in 200 mg cellulose. To fabricate the bio-compatible sheets, a pristine composite of CNHs and HEC was prepared without any pretreatment of the materials. Results: The obtained sheets possess a conductivity of 1.83 × 10− 10 S/m and bio-compatible with human skin. Analysis for skin-compatibility was performed for Cnh-cel sheets by h-CLAT in vitro skin sensitization tests to evaluate the activation of THP-1 cells. It was found that THP-1 cells were not activated by Cnh-cel; hence Cnh-cel is a safe biomaterial for human skin. It was also found that the composite allowed only a maximum loading of 100 mg to retain the consistent geometry of free-standing sheets of < 100 μm thickness. Since CNHs have a unique arrangement of aggregates (dahlia structure), the composite is homogeneous, as verified by transmission electron microscopy (TEM) and, scanning electron microscopy (SEM), and other functional properties investigated by Raman spectroscopy, Fourier transform infrared spectroscopy (FT-IR), conductivity measurement, tensile strength measurement, and skin sensitization. Conclusion: It can be concluded that cellulose and CNHs sheets are conductive and compatible to human skin applications.