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Manipulation of 2D Object with Arbitrary Shape by Robot Finger under Rolling Constraint
Morio Yoshida,Suguru Arimoto,Kenji Tahara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler- Lagrange’ equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.
Tomohiro Kondo,Suguru Yoshida,Hiroaki Nagai,Ai Takeshita,Masaki Mino,Hiroshi Morioka,Takayuki Nakajima,Ken Takeshi Kusakabe,Toshiya Okada 대한수의학회 2018 Journal of Veterinary Science Vol.19 No.4
In Mongolian gerbils, bilateral common carotid artery occlusion (BCCAO) for several minutes induces ischemia, due to an incomplete circle of Willis, resulting in delayed neuronal cell death in the Cornet d’Ammon 1 (CA1) region of the hippocampus. Neuronal cell death in the hippocampus and changes in behavior were examined after BCCAO was performed for 5 min in the gerbils. One day after BCCAO, the pyramidal neurons of the CA1 region of the hippocampus showed degenerative changes (clumped chromatin in nuclei). At 5 and 10 days after BCCAO, extensive neuronal cell death was observed in the hippocampal CA1 region. Cognitive performance was evaluated by using the radial maze and passive avoidance tests. In the radial maze test, which examines win-stay performance, the number of errors was significantly higher in ischemic gerbils than in sham-operated gerbils on days 1 and 2 post-operation. In the passive avoidance test, the latency and freezing times were significantly shorter in ischemic gerbils than in sham-operated gerbils on the days 1, 2, and 4–6 post-operation. These results indicate that transient forebrain ischemia impairs cognitive performance, even immediately after the ischemic insult when there are only subtle signs of neuronal cell death.
( Shinji Ishii ),( Suguru Fukahori ),( Kimio Asagiri ),( Yoshiaki Tanaka ),( Nobuyuki Saikusa ),( Naoki Hashizume ),( Motomu Yoshida ),( Daisuke Masui ),( Naoko Komatsuzaki ),( Naruki Higashidate ),( 대한소화기기능성질환·운동학회(구 대한소화관운동학회) 2017 Journal of Neurogastroenterology and Motility (JNM Vol.23 No.4
Background/Aims The aim of this study is to investigate the degree of delayed gastric emptying (DGE) and evaluate how the severity of DGE affects gastroesophageal reflux disease (GERD) in neurologically impaired (NI) patients utilizing 24-hour multichannel intraluminal impedance pH measurements (pH/MII) and <sup>13</sup>C-acetate breath test (<sup>13</sup>C-ABT) analyses. Methods <sup>13</sup>C-ABT and pH/MII were conducted in 26 NI patients who were referred to our institution due to suspected GERD. At first, correlation analyses were performed to investigate the correlation between the <sup>13</sup>C-ABT parameters and the clinical or pH/MII parameters. Thereafter, all patients were divided into 2 groups (DGE and severe DGE [SDGE] group) according to each cut off half emptying time (t<sub>1/2</sub>, 90-170 minutes). Each pH/MII parameter was compared between the 2 groups in each set-up cutoff t<sub>1/2</sub>. Results The mean t<sub>1/2</sub> of all patients was 215.5 ± 237.2 minutes and the t<sub>1/2</sub> of 24 (92.3%) patients were > 100 minutes. Significant moderate positive correlations were observed between both t1/2 and lag phase time and the non-acid reflux related parameters. Furthermore, the patients in the SDGE group demonstrated higher non-acid reflux related parameters than those of the DGE groups when the cutoff was t<sub>1/2</sub> ≥ 140 minutes. Conclusion The present study demonstrated that GE with t<sub>1/2</sub> ≥ 140 minutes was related to an increase of non-acid exposure reaching up to the proximal esophagus in NI patients, and indicating that NI patients with SDGE might have a high risk of non-acid GERD. (J Neurogastroenterol Motil 2017;23:533-540)
( Naminatsu Takahara ),( Hiroyuki Isayama ),( Yousuke Nakai ),( Shuntaro Yoshida ),( Tomotaka Saito ),( Suguru Mizuno ),( Hiroshi Yagioka ),( Hirofumi Kogure ),( Osamu Togawa ),( Saburo Matsubara ),( 대한간학회 2017 Gut and Liver Vol.11 No.4
Background/Aims: Endoscopic placement of self-expandable metal stents (SEMSs) has emerged as a palliative treatment for malignant gastric outlet obstruction (GOO). Although covered SEMSs can prevent tumor ingrowth, frequent migration of covered SEMSs may offset their advantages in preventing tumor ingrowth. Methods: We conducted this multicenter, single-arm, retrospective study at six tertiary referral centers to evaluate the safety and efficacy of a partially covered SEMS with an uncovered large-bore flare at the proximal end as an antimigration system in 41 patients with symptomatic malignant GOO. The primary outcome was clinical success, and the secondary outcomes were technical success, stent dysfunction, adverse events, and survival after stent placement. Results: The technical and clinical success rates were 100% and 95%, respectively. Stent dysfunctions occurred in 17 patients (41%), including stent migration in nine (23%), tumor ingrowth in one (2%), and tumor overgrowth in four (10%). Two patients (5%) developed adverse events: one pancreatitis and one perforation. No procedurerelated death was observed. Conclusions: A novel partially covered SEMS with a large-bore flare proximal end was safe and effective for malignant GOO but failed to prevent stent migration. Further research is warranted to develop a covered SEMS with an optimal antimigration system. (Gut Liver 2017;11:481-488)
Kim, Gyung-Tae,Fujioka, Shozo,Kozuka, Toshiaki,Tax, Frans E.,Takatsuto, Suguru,Yoshida, Shigeo,Tsukaya, Hirokazu Blackwell Science Ltd 2005 The Plant journal Vol.41 No.5
<P>Summary</P><P>Brassinosteroids (BRs) are plant hormones that are essential for a wide range of developmental processes in plants. Many of the genes responsible for the early reactions in the biosynthesis of BRs have recently been identified. However, several genes for enzymes that catalyze late steps in the biosynthesis pathways of BRs remain to be identified, and only a few genes responsible for the reactions that produce bioactive BRs have been identified. We found that the <I>ROTUNDIFOLIA3</I> (<I>ROT3</I>) gene, encoding the enzyme CYP90C1, which was specifically involved in the regulation of leaf length in <I>Arabidopsis thaliana</I>, was required for the late steps in the BR biosynthesis pathway. ROT3 appears to be required for the conversion of typhasterol to castasterone, an activation step in the BR pathway. We also analyzed the gene most closely related to <I>ROT3</I>, <I>CYP90D1</I>, and found that double mutants for <I>ROT3</I> and <I>CYP90D1</I> had a severe dwarf phenotype, whereas <I>cyp90d1</I> single knockout mutants did not. BR profiling in these mutants revealed that CYP90D1 was also involved in BR biosynthesis pathways. <I>ROT3</I> and <I>CYP90D1</I> were expressed differentially in leaves of <I>A. thaliana</I>, and the mutants for these two genes differed in their defects in elongation of hypocotyls under light conditions. The expression of <I>CYP90D1</I> was strongly induced in leaf petioles in the dark. The results of the present study provide evidence that the two cytochrome P450s, CYP90C1 and CYP90D1, play distinct roles in organ-specific environmental regulation of the biosynthesis of BRs.</P>
Kim, Ho Bang,Kwon, Mi,Ryu, Hojin,Fujioka, Shozo,Takatsuto, Suguru,Yoshida, Shigeo,An, Chung Sun,Lee, Ilha,Hwang, Ildoo,Choe, Sunghwa American Society of Plant Physiologists 2006 Plant Physiology Vol.140 No.2
<P>Mutants that are defective in brassinosteroid (BR) biosynthesis or signaling display severely retarded growth patterns due to absence of growth-promoting effects by BRs. Arabidopsis (Arabidopsis thaliana) DWARF4 (DWF4) catalyzes a flux-determining step in the BR biosynthetic pathways. Thus, it is hypothesized that the tissues of DWF4 expression may represent the sites of BR biosynthesis in Arabidopsis. Here we show that DWF4 transcripts accumulate in the actively growing tissues, such as root, shoot apices with floral clusters, joint tissues of root and shoot, and dark-grown seedlings. Conforming to the RNA gel-blot analysis, DWF4:beta-glucuronidase (GUS) histochemical analyses more precisely define the tissues that express the DWF4 gene. Examination of the endogenous levels of BRs in six and seven different tissues of wild type and brassinosteroid insensitive1-5 mutant, respectively, revealed that BRs are significantly enriched in roots, shoot tips, and joint tissues of roots and shoots. In addition, DWF4:GUS expression was negatively regulated by BRs. DWF4:GUS activity was increased by treatment with brassinazole, a BR biosynthetic inhibitor, and decreased by exogenous application of bioactive BRs. When DWF4:GUS was expressed in a different genetic background, its level was down-regulated in brassinazole resistant1-D, confirming that BRASSINAZOLE RESISTANT1 acts as a negative regulator of DWF4. Interestingly, in the brassinosteroid insensitive2/dwf12-1D background, DWF4:GUS expression was intensified and delocalized to elongating zones of root, suggesting that BRASSINOSTEROID INSENSITIVE2 is an important factor that limits DWF4 expression. Thus, it is likely that the DWF4 promoter serves as a focal point in maintaining homeostasis of endogenous bioactive BR pools in specific tissues of Arabidopsis.</P>