Statistical Learning for Humanoid Robots

The complexity of the kinematic and dynamic structure of humanoid robots make conventional analytical approaches to control increasingly unsuitable for such systems. Learning techniques offer a possible way to aid controller design if insufficient analytical knowledge is available, and learning approaches seem mandatory when humanoid systems are supposed to become completely autonomous. While recent research in neural networks and statistical learning has focused mostly on learning from finite data sets without stringent constraints on computational efficiency, learning for humanoid robots requires a different setting, characterized by the need for real-time learning performance from an essentially infinite stream of incrementally arriving data. This paper demonstrates how even high-dimensional learning problems of this kind can successfully be dealt with by techniques from nonparametric regression and locally weighted learning. As an example, we describe the application of one of the most advanced of such algorithms, Locally Weighted Projection Regression (LWPR), to the on-line learning of three problems in humanoid motor control: the learning of inverse dynamics models for model-based control, the learning of inverse kinematics of redundant manipulators, and the learning of oculomotor reflexes. All these examples demonstrate fast, i.e., within seconds or minutes, learning convergence with highly accurate final peformance. We conclude that real-time learning for complex motor system like humanoid robots is possible with appropriately tailored algorithms, such that increasingly autonomous robots with massive learning abilities should be achievable in the near future.     

Elimination of artifacts in MRCP: technical consideration

Artifacts of MR cholangiopancreatography (MRCP) include fluid-filled gastrointestinal tracts, respiratory motion artifacts, spasm of Oddi's sphincter, vascular compression of bile ducts, overlapping of various anatomical structures and bright signal of surrounding fatty tissue. In this article, various technical considerations to eliminate these artifacts were described for the better imaging analysis of MRCP. The use of high-concentration ferric ammonium citrate (Ferriseltz) is recommended to reduce bright signal of fluid-filled gastrointestinal tracts. In case of long breathhold sequences, O2-inhalation study is useful to eliminate respiratory motion artifacts. Careful attention should be paid to the spasm of Oddi's sphincter and the vascular compression of bile ducts to avoid erroneous interpretation of MRCP findings.     

A robust increase in expression of arc gene, an effector immediate early gene, in the rat brain after acute and chronic methamphetamine administration

The effect of acute and chronic administration of methamphetamine (METH) on the levels of activity-regulated cytoskeleton-associated protein (arc), an effector-immediate early gene, mRNA has been investigated in rat brain using in situ hybridization. Levels of arc mRNAs in the brain regions examined increased significantly from 0.5-1 h after an acute METH (4 mg/kg) administration compared with basal levels. The increase in arc mRNA continued by 3 h, and then subsided to basal levels by 6 h. The degree of increase in arc mRNA and the peak time after METH administration varied according to brain area. Arc mRNA in cerebral cortices showed robust increase 1 h after METH administration. In the striatum and hippocampus, it showed earlier and later increase, respectively, and its degree of both was less than in the cortices. Microscopic examination revealed that the METH-induced arc mRNAs in the parietal cortex were enriched in layers IV and VI, and those in the striatum existed mainly in the medium-sized neuron. Pretreatment with either 0.5 mg/kg SCH23390 or 0.25 mg/kg MK-801 almost completely blocked the enhanced striatal arc mRNA levels induced by acute METH administration, whereas such pretreatments only partially reduced the effect of METH in the cerebral cortical regions. In the chronic treatment experiment, the arc mRNA levels of the group that received chronic treatment with METH followed by a METH challenge showed an increase like seen after acute METH administration. Since previous studies proposed that arc is one of cytoskeleton-associated proteins and is selectively localized in neural dendrites, the results of the present study suggested that arc may play an important role in the synaptic plasticity underlying METH-induced adaptational changes including behavioral sensitization.     

Immunohistochemical study of calpain-mediated alpha-crystallin proteolysis in the UPL rat hereditary cataract

The purpose of this study is to examine if microencapsulated PC12 cells may provide long term effects to the hemiparkinsonian rats. A modified technique was used to encapsulate PC12 cells into gelled microspheres. We found that the PC12 cells can survive in the modified microcapsules in vitro. Most of the PC12 cells formed cluster 3 weeks after incubation. The PC12 cell-loaded microcapsules were also examined in vitro. Adult Sprague-Dawley rats, anesthetized with chloral hydrate, were injected unilaterally with 6-hydroxydopamine into the medial forebrain bundle. The effectiveness of this lesion was tested by measuring apomorphine or methamphetamine-induced rotation one month after lesioning. The unilaterally lesioned rats were transplanted with microencapsulated PC12 cells. Results showed that apomorphine and methamphetamine-induced rotations were greatly suppressed after transplantation. One year after the grafting, the animals were anesthetized with urethane for the voltammetric study. Low dose of KCl was directly injected into the grafted striatum through pressure microejection. We found that KCl-induced DA release, as measured by voltammetric techniques, was regenerated in the striatum. The animals were later sacrificed for histological examination. We found that capsules were present in the lesioned striatum one year after grafting. Most of the capsules contained no PC12 cell. However, some capsules were filled entirely with PC12 cells. Taken together, our data suggested that PC12 cells can survive in the capsule in vitro and may provide long-term dopaminergic effects to the hemiparkinsonian rats.     

Evaluation of MRCP compared to ERCP in the diagnosis of biliary and pancreatic duct

Recently, Magnetic Resonance Cholangiopancreatography (MRCP) is developed as a noninvasive diagnostic modality in the diagnosis of biliary and pancreatic tract. Using Endoscopic Retrograde Cholangiopancreatography (ERCP) as the gold standard, we evaluated the diagnostic quality of MRCP and direct cholangiography. Fifty-six patients (9 cases of cholangiocarcinoma, 5 of gallbladder carcinoma, 1 of gallbladder carcinoma and anomalous arrangement of pancreaticobiliary ductal system, 4 of cholecystlithiasis, 3 of papillary carcinoma, 1 of adenomyomatosis of the gallbladder, 1 of primary sclerosing cholangitis, 1 of hepatolithiasis and postoperative bile duct stricture, 4 of mucin producing pancreatic tumor, 13 of pancreatic carcinoma, 1 of chronic pancreatitis and pancreas divisum, 9 of chronic pancreatitis, and 1 of chronic pancreatitis and biliary stricture) are studied prospectively with MRCP and direct cholangiography (included ERCP and percutaneous transhepatic cholangiography). The image of MRCP accorded with direct cholangiography in twenty-two of 27 patients with biliary tract disease, and in sixteen of 29 patients with pancreatic disease. The different diagnosis is observed in ten of 56 patients. In cases of not visualized gallbladder, pancreatic cyst without communicated to the pancreatic duct, and pre-stenotic dilatation of biliary and pancreatic duct, the image of MRCP was better than that of ERCP. However, the image of MRCP for the diagnosis of either benign or malignant strictures, mucin producing pancreatic tumor, and a branch of pancreatic duct in patients with pancreatic carcinoma were not suitable for evaluation than that of ERCP. In our study, ERCP is superior to MRCP due to the important information for diagnosis such as mentioned above. Therefore we advocate using ERCP as the first diagnostic tool in the diagnosis of biliary and pancreatic duct.     

Fate of herbicide CNP in rivers and agricultural drainages

The occurrence and fate of a herbicide CNP (2,4,6-trichlorophenyl-4′-nitrophenylether) in rivers and agricultural drainages was investigated. CNP residues in water samples were extracted by adsorption on a macroreticular XAD-2 resin column and subjected to gas chromatographic analysis using an electron capture detection after desorption from the column and concentration. The minimum detectable amount was 0.04 ng and a positive identification of CNP residue in water samples was obtained with a combined gas chromatography-mass spectrometry-computer system when 500 ng of CNP was injected. CNP residues were detected in water samples taken in June to September, and these levels were between 0.01 and 16.67 μg l⁻¹. The maximum level was found in a sample taken on 13th July, 1977, about a month after beginning rice seedling transplantation, and the minimum level was detected on August 29th, 1977. However CNP residue levels were increased again in September because flooded water on the paddy fields was excluded. CNP was more persistent in the aquatic environment than a herbicide benthiocarb.     

Oligoethylenes in high pressure polyethylene

Summary Series of several alkylated cycloheptanes were detected in some commercial samples of high pressure polyethylene. The structures of the alkylated cycloheptanes were found closely related to the chain transfer agents used in the polymerization process. A probable mechanism involving radical cyclization to cycloheptane structures was presented.     

Recent Progress in Communication Theory in Japan

This paper reviews recent progress in communication theory in Japan, mainly in the past three years. The topics to be discussed include 1) waveform transmission in band-limited channels and active transmission lines, 2) source-coding problems such as optimal quantizing characteristics, delta modulation, and linear transformation, 3) transmission codes, where mainly multilevel codes have been discussed, 4) new information transmission and modulation schemes, and 5) theories of traffic and switchingsystem design.     

Determination of standard gibbs energies of formation of Fe2Mo3O12, Fe2Mo3O8, Fe2MoO4, and FeMoO4 of the Fe-Mo-O ternary system and μ phase of the Fe-Mo binary system by electromotive force measurement using a Y2O3-stabilized ZrO2 solid electrolyte

The standard Gibbs energies of formation of Fe₂Mo₃O₁₂, Fe₂Mo₃O₈, FeMoO₄, and Fe₂MoO₄ of the Fe-Mo-O ternary system and the μ phase of the Fe-Mo binary system have been determined by measuring electromotive forces of galvanic cells having an Y₂O₃-stabilized ZrO₂ solid electrolyte. The results are as follows: $$\begin{gathered} \Delta _f G^\circ (FeMoO_4 )/kJ \cdot mol^{ - 1} = - 1053.5 + 0.2983(T/K) \pm 0.4 \hfill \\ Temperature range: 1112 to 1339 K \hfill \\ \Delta _f G^\circ (Fe_2 Mo_3 O_8 )/kJ \cdot mol^{ - 1} = - 2347 + 0.6814(T/K) \pm 1 \hfill \\ Temperature range: 1112 to 1339 K \hfill \\ \Delta _f G^\circ (Fe_2 Mo_3 O_{12} )/kJ \cdot mol^{ - 1} = - 2993 + 0.9105(T/K) \pm 2 \hfill \\ Temperature range: 1040 to 1145 K \hfill \\ \Delta _f G^\circ (Fe_{0.58} Mo_{0.42} )/kJ \cdot mol^{ - 1} = - 18.7 + 0.0117(T/K) \pm 0.1 \hfill \\ Temperature range: 1162 to 1223 K \hfill \\ \Delta _f G^\circ (Fe_2 MoO_4 )/kJ \cdot mol^{ - 1} = - 1174 + 0.342(T/K) \pm 1 \hfill \\ Temperature range: 1243 to 1466 K \hfill \\ \end{gathered} $$ where the standard pressure is 1 bar (100 kPa).