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Identification of Human Skill based on Feedforward / Feedback Switched Dynamical Model
Hiroyuki Okuda,Hidenori Takeuchi,Shinkichi Inagaki,Tatsuya Suzuki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
To realize the harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operator’s skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feedforward and feedback schemes has been proved to work successfully in the modeling of human skill. In this paper, a new stochastic switched skill model for the sliding task, wherein a minimum jerk motion and feedback schemes are embedded in the different discrete states, is proposed. Then, the parameter estimation algorithm for the proposed switched skill model is derived. Finally, some advantages and applications of the proposed model are discussed.
A Design of Onboard Multi-Channel Sonar Signal Processing System for Autonomous Mobile Robots
Hiroyuki Takai,Kiyoshi Okuda,Masamichi Miyake,Keihachiro Tachibana 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In the last several years, mobile robot systems that achieve complicated tasks have been developed. When a robot works in a cramped workspace, the robot has to detect arrangement of circumambient obstacles in order to avoid collisions. We considered a simple distance estimation algorithm for ultrasonic sonar. This algorithm was able to estimate distance with approximately 13mm of errors out of 1300mm using conventional 40kHz transducer in confirmation experiments. We also attempt stereo reception using two ultrasonic microphones. The stereo reception sonar was able to detect direction with approximately 4.2 degrees of error in preparatory experiments. In order to install small mobile robots and to detect circumambient obstacles, we designed a multi-channel sonar signal processing system using a high-performance embedded microcontroller. This paper describes our idea of the distance estimation algorithm of ultrasonic sonar and a design of signal processing system using a high-performance microcontroller.
Kono Maori,Okuda Tomoaki,Ishihara Nami,Hagino Hiroyuki,Tani Yuto,Okochi Hiroshi,Tokoro Chiharu,Takaishi Masayuki,Ikeda Hidefumi,Ishihara Yasuhiro 한국독성학회 2023 Toxicological Research Vol.39 No.1
Fine particulate matter (PM2.5) exposure has a risk of inducing several health problems, especially in the respiratory tract. The skin is the largest organ of the human body and is therefore the primary target of PM2.5. In this study, we examined the effects of PM2.5 on the skin using a human 3-dimensional cultured epidermis model. PM2.5 was collected by cyclonic separation in Yokohama, Japan. Global analysis of 34 proteins released from the epidermis revealed that the chemokines, chemokine C-X-C motif ligand 1 (CXCL1) and interleukin 8 (IL-8), were significantly increased in response to PM2.5 exposure. These chemokines stimulated neutrophil chemotaxis in a C-X-C motif chemokine receptor 2-dependent manner. The oxidative stress and signal transducer and activator of transcription 3 pathways may be involved in the increased expression of CXCL1 and IL-8 in the human epidermis model. Interestingly, in the HaCaT human keratinocyte cell line, PM2.5 did not affect chemokine expression but did induce IL-6 expression, suggesting a different effect of PM2.5 between the epidermis model and HaCaT cells. Overall, PM2.5 could induce the epidermis to release chemokines, followed by neutrophil activation, which might cause an unregulated inflammatory reaction in the skin.
( Masaya Iwamuro ),( Masato Okuda ),( Eiichiro Yumoto ),( Seiyuu Suzuki ),( Atsuko Shirakawa ),( Katsuyoshi Takata ),( Tadashi Yoshino ),( Hiroyuki Okada ),( Kazuhide Yamamoto ) 대한간학회 2013 Gut and Liver Vol.7 No.2
The representative endoscopic features of primary intestinal follicular lymphoma are well known as small whitish polypoid nodules, but a magnified view has only been described in a few case reports. Herein, we report a case with intestinal follicular lymphoma in which magnifying endoscopy with narrow band imaging was helpful for prompt diagnosis. A 57-year-old Japanese woman underwent surveillance esophagogastroduodenoscopy. The endoscopic examination revealed confluent whitish granules in the duodenum, distinct from the nodules or polyps that are typical findings of intestinal follicular lymphoma. Magnifying endoscopy visualized whitish enlarged villi, and narrow band imaging emphasized an elongated and coiled vascular pattern. Based on these features, intestinal follicular lymphoma was highly suspected, and subsequent histological study confirmed the diagnosis. This case demonstrates that magnifying endoscopy with narrow band imaging was useful for the detection and prompt diagnosis of intestinal follicular lymphoma. The pathological features of intestinal follicular lymphoma are also discussed. (Gut Liver 2013;7:258-261)