Robust grasping strategy for assembling parts in various shapes

In a robotic cell, assembly robots have to grasp parts in various shapes robustly and accurately even under some uncertainties in the initial poses of the parts. For this purpose, it is necessary to develop a universal robotic hand and robust grasping strategies, i.e. finger motions that can achieve planned grasping robustly against the initial pose uncertainty of parts. In this paper, we propose a methodology to plan robust grasping strategies of a universal robotic hand for assembling parts in various shapes. In our approach, parts are aligned toward planned configurations during grasping actions, and the robustness of grasping strategies is analyzed and evaluated based on pushing operation analysis. As an application example, we plan robust grasping strategies for assembling a three-dimensional puzzle, and experimentally verify the robustness and effectiveness of the planned strategies for this assembly task.     

Adaptive Control of Partially Known Systems and Application To Active Suspensions

In this paper, an adaptive control method is proposed for systems whose structures can be divided into a known part and an unknown part. A non‐adaptive control design, such as H∞ control design can be introduced into the known part of the system, and adaptive control can cope with the unknown part to realize the property designed by non‐adaptive control. This is achieved by means of backstepping. This method is applied to the control design of an active suspension system for a railway vehicle, which is divided into two parts: a main car body part and an actuator part. Some simulation results of the control system designed using H∞ control for the body part and adaptive control for the actuator part are provided.     

Pancreaticoduodenal artery aneurysms associated with celiac axis stenosis due to compression by median arcuate ligament and celiac plexus

BACKGROUND: We attempted to determine the frequency and clinical relevance of antinuclear antibody (ANA) testing and positive ANA test results in patients with cutaneous T-cell lymphoma (CTCL). METHODS: A retrospective chart and computer record review was conducted to determine the frequency of ANA testing in CTCL patients and the rate of seropositivity. Patients with a positive ANA were further examined to define possible explanations of the positive test. RESULTS: Of 381 patients with CTCL, 66 (17%) had ANA tests; 8 of these (12.1%) were found to have an ANA titer greater than or equal to 1:40. Of patients with a positive ANA test, one was found to have chronic cutaneous lupus erythematosus histologically and clinically mimicking CTCL. Others were found to have a comorbid connective tissue disorder, some had apparent drug-induced antinuclear antibodies, and some had no identifiable reason for a positive ANA test. CONCLUSION: ANA seropositivity does not appear to be increased in CTCL patients, and the ANA test remains a useful screening tool for differentiating between CTCL and connective tissue disorders.     

日本走向开放式建筑的发展史

20世纪70年代日本开始转向开放式建筑.文章描述了其发展的历史,并讨论了笔者直接参与的几个主要建设项目.1971年,日本从美国和英国引入建造体系思想,如加利福尼亚州著名的SCSD建造体系,并在日本的住宅建设发展中借鉴了这种建造体系的经验.日本住宅公团实施的KEP项目是日本住宅建筑领域走向开放式建筑的首次尝试,后又出现了...     

Microsatellite instability in B-cell lymphoma originating from Bloom syndrome

We present two cases of osteochondroma after total body irradiation in bone marrow recipients, the first in a 6-year-old boy with juvenile chronic myelogenous leukemia and the second in a 13-year-old boy with acute myelogenous leukemia. The patients developed multiple osteochondromas three years and seven years, respectively, after 12 Gy of total body irradiation. Neither had a family history of hereditary multiple osteochondromatosis. A review of the English literature revealed only one report describing five cases of osteochondroma after 12 Gy of total body irradiation in bone marrow transplant recipients. Osteochondroma should be considered as an additional adverse effect of total body irradiation.     

Radial force and speed detection for improved magnetic suspension in bearingless motors

In this paper, radial forces and speeds are detected and used in negative feedback loops to enhance damping factors and response speed in bearingless induction motors. Radial forces and speeds are calculated from the detected radial force fluxes. Both radial force and torque generating fluxes are detected from search coil fluxes wound around stator teeth. The effectiveness on improving damping of radial positioning is shown both theoretically and experimentally.