Development and experimental study of a novel pruning robot

This article presents the development of a timberjack-like pruning robot. The climbing principal is an imitation of the climbing approach of timberjacks in Japan. The robot’s main features include having its center of mass outside the tree, and an innovative climbing strategy fusing straight and spiral climbs. This novel design brings both lightweight and high climbing speed features to the pruning robot. We report our progress in developing the robot, focusing on straight climbing, behavior on uneven surfaces, and pruning.     

Planar‐Chiral Cyclopentadienyl‐Ruthenium‐Catalyzed Regio‐ and Enantioselective Asymmetric Allylic Alkylation of Silyl Enolates under Unusually Mild Conditions

We report the asymmetric allylic alkylation of allylic chlorides with silyl enolates as a carbon nucleophile using a planar‐chiral cyclopentadienyl‐ruthenium (Cp′Ru) catalyst. The reaction proceeds under unusually mild conditions to give the desired branched products with complete regioselectivity and high enantioselectivity, and reactive functional groups, such as aldehyde, can be tolerated. In this reaction system, Cp′Ru plays an important role in activating both silyl enolate and allylic chloride.

     

Batch estimation of statistical errors in the Monte Carlo calculation of local powers

Batch methodology is among the techniques for computing the standard deviation of sample mean and is applicable to any output series from stationary iteration cycles. In the present article, three forms of the methodology are investigated: non-overlapping batch means (NBM), which dates back to Conway (1963), overlapping batch means (OBM) by Meketon and Schmeiser (1984), and standardized time series (STS) by Schruben (1983). In particular, they are applied to the MC calculation of local powers of a pressurized water reactor. The numerical results reveal that the performance of NBM is equivalent to that of OBM, whereas STS performs poorly for small batch sizes. It is also shown that OBM can be improved based on the method of autocovariance bias correction. For a computational condition leading to 0.5–1.5% statistical errors, the improved OBM for a batch size of 10% of the stationary iteration cycle length yields 88–103% of the reference value of standard deviation at tally cells where the sample standard deviation yields 22–36% of the same reference value.     

Structure of the human type XIX collagen (COL19A1) gene, which suggests it has arisen from an ancestor gene of the FACIT family

Type XIX collagen is a newly discovered member of the FACIT (fibril-associated collagens with interrupted triple helices) group of extracellular matrix proteins. Based on the primary structure, type XIX collagen is thought to act as a cross-bridge between fibrils and other extracellular matrix molecules. Here we describe the complete exon/intron organization of COL19A1 and show that it contains 51 exons, spanning more than 250 kb of genomic DNA. The comparison of exon structures of COL19A1 and other FACIT family genes revealed several similarities among these genes. The structure of exons encoding the noncollagenous (NC) 1-collagenous (COL) 1-NC 2-COL 2-NC 3-COL 3-NC 4 domain of the alpha1(XIX) chain is similar to that of the NC 1-COL 1-NC 2-COL 3-NC 3 domain of the alpha2(IX) chain except for the NC 3 domain of alpha1(XIX). The exons encoding the COL 5-NC 6 domain of alpha1(XIX) are also similar to those of the COL 3-NC 4 domain of alpha1(IX) chain. Previously, COL19A1 was mapped to human chromosome 6q12-q14, where COL9A1 is also located. Likewise, the present work shows that the mouse Col19a1 gene is located on mouse chromosome 1, region A3, where Col9a1 has also been mapped. Taken together, the data suggest that COL19A1 and COL9A1 (Col19a1 and Col9a1) were duplicated from the same ancestor gene of the FACIT family. Three CA repeat markers with high heterozygosity were found in COL19A1. These markers may be useful for linkage analysis of age-related inheritable diseases involved in eyes and/or brain.     

A no-trimming SLIC two-chip set with coin telephone signalingfacilities

A subscriber line interface circuit (SLIC) two-chip set that eliminates off-chip functional trimming and integrates coin telephone set facilities as well as BORSCHT functions is described. The LSI chip set consists of (a) a subscriber interface IC fabricated using a 320-V dielectrically isolated bipolar process with on-chip thin-film resistors and double-layer metal, and (b) a subscriber processor IC with oversampling A-D/D-A converters and a microprogrammable digital signal processor (DSP), using a 1.6-μm CMOS process. Chip sizes are 5.5 mm×6.06 mm and 6.0 mm×5.7 mm, respectively. Using the two-chip set, an SLIC for a coin telephone set can be designed without using high-precision filter components or hybrid ICs with functional trimming     

Sample preparation techniques for physical analysis of VLSIs

A sample preparation machine introduces a variety of techniques for low-damage sample preparation, especially for the physical analysis of chip size packages (CSPs) and the flip-chip. The techniques are not only useful for CSPs and the flip-chip, but also for a variety of single components. Sample preparation time is greatly reduced.     

Designing of epoxy resin systems for cryogenic use

The mechanical and thermal properties of several types of epoxy systems were designed based on the chemical structure, network structure and morphology aiming at cryogenic application. In this research di-epoxies or multifunctional epoxies were cured by several kinds of hardeners such as anhydride, amine or phenol and were blended with polycarbonate, carboxyl-terminated butadiene acrylonitrile copolymer or phenoxy. The mechanical properties and thermal properties of these cured epoxies were measured at room and liquid nitrogen temperature. It was found that the two-dimensional network structured linear polymer shows high performance even at cryogenic temperature. It was concluded that the controls of the structures are very important to optimize epoxy systems for cryogenic application.     

Increase in adhesion molecules on CD4+ cells and CD4+ cell subsets in synovial fluid from patients with rheumatoid arthritis

OBJECTIVE: To elucidate the role of adhesion molecules in the pathogenesis of rheumatoid arthritis (RA). METHODS: We evaluated their expression and that of an activation marker on CD4+ cell populations and CD4+ cell subsets in specimens of peripheral blood (PB) and synovial fluid (SF) obtained from 10 patients with RA and 7 with osteoarthritis (OA). A 2 or 3-color immunofluorescent method was used for analysis. RESULTS: The SF from both groups of patients showed a greater density of adhesion molecules including LFA-1 alpha, LFA-1 beta, CD2, VLA-4 alpha and VLA-5 alpha on CD4+ cells, and a higher percentage of CD4+HLA-DR+ cells compared with their PB. IN PB-CD4+ cell subsets from the arthritic and healthy subjects, the CD4+CD45RO+ cell population showed an increased expression of adhesion molecules compared with CD4+CD45RA+ cell population. The expression of adhesion molecules on circulating CD4+ cell population and CD4+ cell subsets from the patients with RA and OA was comparable to that from healthy subjects. SF from both groups of patients showed a higher percentage of CD4+CD45RO+ cells and a lower percentage of CD4+CD45RA+ cells. In SF-CD4+ cell subsets from patients with RA, the CD4+CD45RO+ cell population had an increased expression of VLA-4 alpha compared to the CD4+CD45RA+ cell population; however, there was no significant difference in other adhesion molecule expression and the percentage of HLA-DR+ cells between the 2 cell subsets. Furthermore, the expression of VLA-4 alpha on the CD4+CD45RO+ cell population in SF from patients with RA was significantly higher than that in matched PB. In CD4+CD45RA+ cell population from both groups of patients, SF showed an enhanced expression of adhesion molecules and an increased percentage of HLA-DR+ cells compared with matched PB. CONCLUSION: Our results suggest that increased expression of adhesion molecules and increased percentage of HLA-DR+ cells on CD4+ cells in SF may be responsible for cellular interactions between these cells and synovial cells or extracellular matrix.