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Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients
Mizuki Kitamura,Lin Han,Takahito Yamaji,Shunya Kaneko,Yoshifumi Morita,Hirofumi Tanabe 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. To improve the motor function of the patient’s paralyzed leg, a guided standing-up training is effective. The therapist controls the patient’s left/right load balance by pulling or pushing the patient’s waist during standing-up training. The purpose of this study was to clarify the patient’s waist movement guided by the therapist during the guided standing-up motion. For this purpose, we investigated the relationship between the patient’s waist movement and the left/right load balance during guided standing-up motion. From the analysis results, we found the ideal pattern of load balance ratio during guided standing-up training. Moreover, we found that the patient’s waist movement corresponded to the ideal pattern of load balance ratio. This movement trajectory is expected to be useful in designing a controller of a rehabilitation support robot.
Development of CAD for Zone Dividing of Process Control Networks to Improve Cyber Security
Hiroki Moritani,Shuichi Yogo,Takahito Morita,Midori Kojima,Kento Watanabe,Jing Sun,Ichiro Koshijima,Yoshihiro Hashimoto 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Recently, cyber security becomes a serious problem for not only OA (Office Automation) systems but also PA (Process Automation) and FA (Factory Automation) systems. Even the controllers, which are not connected to Internet directly, have been attacked with malwares, such as Stuxnet and Quantum. When control system fails, it may lead to serious accidents such as explosion or leakage of poisonous and deleterious substances. For process control, cyber-attack is one of the causes to threaten safety. The authors of this paper had proposed zone division of process control networks to ensure cyber security and safety. To apply the method, it is necessary to build CE (Cause Effect) matrices which express the qualitative information of the plant and controllers. It is very troublesome for large-scale plants. CAD (Computer Aided Design) tool for zone dividing is proposed in this paper. CE matrices are generated by using DAE (Differential and Algebraic Equation) registered in equipment modules of plant CAD such as ASPEN or Pro II. The candidates of zone division of process control networks, which can assure the safety against concealment and remote operation by cyber attackers, can be proposed.
Fungemia due to Trichosporon dermatis in a patient with refractory Burkitt’s leukemia
Satoshi Hashino,Shojiro Takahashi,Rena Morita,Hiroe Kanamori,Masahiro Onozawa,Takahito Kawamura,Kaoru Kahata,Takeshi Kondo,Issei Tokimatsu,Takashi Sugita,Koji Akizawa,Masahiro Asaka 대한혈액학회 2013 Blood Research Vol.48 No.2
Fungemia due to Trichosporon dermatis in a patient with refractory Burkitt’s leukemia
Satoshi Hashino,Shojiro Takahashi,Rena Morita,Hiroe Kanamori,Masahiro Onozawa,Takahito Kawamura,Kaoru Kahata,Takeshi Kondo,Issei Tokimatsu,Takashi Sugita,Koji Akizawa,Masahiro Asaka 대한혈액학회 2013 Blood Research Vol.48 No.2