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Homogeneous Quantitative Measure of Caging Grasps with both Geometrical and Mechanical Constraints
Satoshi Makita,Koshi Makihara 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This paper presents a homogeneous evaluation of difficulty of moving attributed to both geometrical and mechanical constraints. Although caging grasp usually considers to confine an object geometrically by surrounding robots, it is not always feasible due to limitation of robots such as few number of robots or fingers. Such incomplete caging is often called as partial caging, and in which the object can escape from the cage of robots. And then the object is prevented from moving by both geometrical constraints and mechanical effects. The former can be discussed with arrangements of robots and environments, and the latter is investigated with static/dynamic analyses of contact forces. This paper addresses both different indexes homogeneously based on robustness measure for grasping and contact tasks. We introduce a novel interpretation for evaluation of complete/partial caging quality, and show some numerical examples.
湯瀬晶文(Yuse Akifumi),牧田満知子(Makita Machiko),金子哲(Kaneko Satoshi) 동북아시아문화학회 2009 동북아시아문화학회 국제학술대회 발표자료집 Vol.2009 No.5월
To the grown-ups mainly around sixty and seventy years old, the easy questionnaire was taken and the result was compare with the young student’s one who is the special field of study which needs rather scientific thinking. With comparison we found out some tendencies. One is that most young students avoid rooms which smell of death, next is that grown-ups show the realistic choice, and last is that while grown-ups show various estimate as a whole, they show same choice individually even in different conditions.
湯?晶文(Akifumi YUSE),牧田?知子(Machiko MAKITA),金子哲(Satoshi KANEKO) 동북아시아문화학회 2008 동북아시아문화학회 국제학술대회 발표자료집 Vol.- No.-
We studied outline of the modern student's view of life and death through a questionnaire. Students, who have different major field, watch a video of death with dignity and euthanasia before fill in a questionnaire. We could find out the outline of their view of life and death and out that they have affirmative opinions on death with dignity. Analysis also suggests that their views on death with dignity may depend on their major field and that estrangements are seen between themselves and others and between knowledge and sense.
Effects of acute kidney injury after liver resection on long-term outcomes
Seiji Ishikawa,Manami Tanaka,Fumi Maruyama,Arisa Fukagawa,Nobuhiro Shiota,Satoshi Matsumura,Koshi Makita 대한마취통증의학회 2017 Korean Journal of Anesthesiology Vol.70 No.5
Background: To investigate the effects of acute kidney injury (AKI) after liver resection on the long-term outcome, including mortality and renal dysfunction after hospital discharge. Methods: We conducted a historical cohort study of patients who underwent liver resection for hepatocellular carcinoma with sevoflurane anesthesia between January 2004 and October 2011, survived the hospital stay, and were followed for at least 3 years or died within 3 years after hospital discharge. AKI was diagnosed based on the Acute Kidney Injury Network classification within 72 hours postoperatively. In addition to the data obtained during hospitalization, serum creatinine concentration data were collected and the glomerular filtration rate (GFR) was estimated after hospital discharge. Results: AKI patients (63%, P = 0.002) were more likely to reach the threshold of an estimated GFR (eGFR) of 45 ml/ min/1.73 m2 within 3 years than non-AKI patients (31%) although there was no significant difference in mortality (33% vs. 29%). Cox proportional hazard regression analysis showed that postoperative AKI was significantly associated with the composite outcome of mortality or an eGFR of 45 ml/min/1.73 m2 (95% CI of hazard ratio, 1.05–2.96, P = 0.033), but not with mortality (P = 0.699), the composite outcome of mortality or an eGFR of 60 ml/min/1.73 m2 (P = 0.347). Conclusions: After liver resection, AKI patients may be at higher risk of mortality or moderate renal dysfunction within 3 years. These findings suggest that even after discharge from the hospital, patients who suffered AKI after liver resection may need to be followed-up regarding renal function in the long term.