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Nakatani, Jin,Tamada, Kota,Hatanaka, Fumiyuki,Ise, Satoko,Ohta, Hisashi,Inoue, Kiyoshi,Tomonaga, Shozo,Watanabe, Yasuhito,Chung, Yeun Jun,Banerjee, Ruby,Iwamoto, Kazuya,Kato, Tadafumi,Okazawa, Makoto Cell Press 2009 Cell Vol.137 No.7
<P><B>Summary</B></P><P>Substantial evidence suggests that chromosomal abnormalities contribute to the risk of autism. The duplication of human chromosome 15q11-13 is known to be the most frequent cytogenetic abnormality in autism. We have modeled this genetic change in mice by using chromosome engineering to generate a 6.3 Mb duplication of the conserved linkage group on mouse chromosome 7. Mice with a paternal duplication display poor social interaction, behavioral inflexibility, abnormal ultrasonic vocalizations, and correlates of anxiety. An increased MBII52 snoRNA within the duplicated region, affecting the serotonin 2c receptor (5-HT2cR), correlates with altered intracellular Ca<SUP>2+</SUP> responses elicited by a 5-HT2cR agonist in neurons of mice with a paternal duplication. This chromosome-engineered mouse model for autism seems to replicate various aspects of human autistic phenotypes and validates the relevance of the human chromosome abnormality. This model will facilitate forward genetics of developmental brain disorders and serve as an invaluable tool for therapeutic development.</P>
A Study on Ship’s Autopilot System for a Small Boat
Toshihiko NAKATANI,Makoto ENDO,Keiji SASAYA,Takashi MIWA,Hiroshi MIKAMI,Taizo KANEDA,Emi KANAYAMA,Erika URA 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes dynamics analysis of a small training boat and the application of a gain map PID controller to the autopilot of the vessel. After upgrading the autopilot of the Sazanami, an actual small training boat, in order to identify the boat model, zigzag maneuver trials were performed at various speeds. It was found that the Nomoto gain and time constant changed considerably with the vessel’s speed. Based on this analysis, an improved autopilot system that utilizes a gain map PID controller to compensate for vessel maneuverability changes was designed. From the results of various control simulations, we determined that the proposed system offered significant performance improvements over the vessel’s conventional autopilot.