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Mechanisms of Biped Humanoid Robot and Online Walking Pattern Generation
Kouhei Yamada,Keisuke Sayama,Tetsuya Yoshida,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes the mechanism of a biped humanoid robot, KBHR (Kanagawa Biped Robot-2), that has large moveable angles similar to humans’. The KBHR has 29 degrees of freedom (DOF) (two 6 DOF legs, a 3 DOF waist and two 7 DOF arms). Also, an online walking pattern generation method for a biped humanoid robot based on preview control is proposed. Depending on the walking parameters (step length, height, etc.), a pre-3-step pattern is created, and one step of the 3-step pattern is selected for one step of the robot. Using KBHR, various walking experiments are conducted, and the effectiveness of the mechanism and the online walking pattern generation method is confirmed.
Volodymyr Bilotkach,Keisuke Kawata,Tae Seung Kim,Jaehong Park,Putut Purwandonok,Yuichiro Yoshida 인하대학교 정석물류통상연구원 2017 인하대학교 정석물류통상연구원 학술대회 Vol.2017 No.1
Asia is the world’s most rapidly growing aviation market, and the region now cradles the largest number of low-cost carriers (LCCs). This paper identifies the causal effect of LCC entry on international air passenger flows to and from 30 major airports in Asia using reservation-based international air passenger traffic data for years 2010 and 2015 (N=123,148). In order to bypass the endogeneity arising from self selection of LCCs’ entry decision as well as confounding by unobservables, the paper utilizes multiple identification strategies, namely, difference-in-differences (DID), propensity score matching coupled with DID, DID with inverse-probability weighted regression adjustment, and a fuzzy RDD with the maximum flight range of an aircraft typically used by LCCs as the cutoff. The results consistently show that LCC impact on international air passenger traffic is strictly positive, and is decreasing over distance with slight convexity. Another finding is that the impact of LCC entry net of competition effect holding market concentration constant account for the major part of the overall impact, i.e. LCC replacing full-service carriers greatly increases international air passenger movements in Asia.
( Takato Maeda ),( Hirotake Sakuraba ),( Hiroto Hiraga ),( Shukuko Yoshida ),( Yoichi Kakuta ),( Hidezumi Kikuchi ),( Shogo Kawaguchi ),( Keisuke Hasui ),( Tetsuya Tatsuta ),( Daisuke Chinda ),( Tatsu 대한장연구학회 2022 Intestinal Research Vol.20 No.1
Background/Aims: Thiopurines are key drugs for inflammatory bowel disease (IBD), including ulcerative colitis (UC) and Crohn’s disease (CD). Recently, NUDT15 polymorphism (R139C, c.415C>T) has been shown to be associated with thiopurine-induced adverse events in Asian populations. In patients with the C/T genotype, low-dose thiopurine treatment is recommended, but its long-term efficacy and tolerability remain unclear. This study aimed to uncover the long-term efficacy and appropriate dosage of thiopurine for IBD patients with the C/T genotype. Methods: A total of 210 patients with IBD (103 UC and 107 CD) determined to have NUDT15 R139C variants were enrolled. Clinical data were retrospectively reviewed from medical records. Results: Of 46 patients (21.9%) with the C/T genotype, 30 patients (65.2%) were treated with thiopurines. Three of whom (10.0%) discontinued thiopurine treatment due to adverse events and 27 of whom continued. The median maintenance dosage of 6-mercaptopurine was 0.25 mg/kg/day (range, 0.19-0.36 mg/kg/day), and 6-thioguanine nucleotides level was 230 (104-298) pmol/8×10<sup>8</sup> red blood cells. Cumulative thiopurine continuation rates for 120 months for patients with the C/C and C/T genotypes were not significantly different (P=0.895). Cumulative non-relapse rates in the patients with UC treated with thiopurine monotherapy and surgery-free rates in CD patients treated with combination therapy (thiopurines and anti-tumor necrosis factor-α agents) for maintenance remission were not significantly different at 60 months (C/C vs. C/T, P=0.339 and P=0.422, respectively). Conclusions: Low-dose thiopurine treatment is an effective and acceptable treatment for patients with C/T genotype. (Intest Res 2022;20:90-100)
Free Flap Salvage in the Ischemic Foot: A Case Report
Dongkyung Seo,Yutaka Dannnoura,Riku Ishii,Keisuke Tada,Kunihiro Kawashima,Tetsunori Yoshida,Katsumi Horiuchi 대한성형외과학회 2022 Archives of Plastic Surgery Vol.49 No.5
We performed distal bypass and free flap transfer in a single-stage operation to repair an extensive soft tissue defect in an ischemic foot of an 84-year-old woman. The nutrient artery of the free flap was anastomosed to the bypass graft in an end-to-side manner. Subsequently, the bypass graft became occluded on several occasions. Although intravascular and surgical interventions were performed each time, the bypass graft eventually became completely occluded. However, despite late occlusion of the nutrient artery, the free flap has remained viable and the patient is ambulatory. The time required for a transplanted free flap to become completely viable without a nutrient artery is likely longer for an ischemic foot compared with a healthy foot. However, the exact period of time required is not known. A period of month was required in our patient. We report this case to help clarify the process by which a free flap becomes viable when applied to an ischemic foot.
? Research Activities on MIR-FEL and table top THz Generation inKyoto University
OHGAKI, Hideaki,KII, Toshiteru,MASUDA, Kai,Arby, ABDEL AZIEM MAHMOUD Bakr,HIGASHIMURA, Keisuke,KINJO, Ryota,YOSHIDA, Kyohei,UEDA, Satoshi,SONOBE, Taro,Uk, Jeong Young Korean Physical Society 2010 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.57 No.2