Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

This work faces the redundancy problem, a central concern in robotics, in a particular force-producing task by using muscle synergies to simplify the control. We extracted muscle synergies from human electromyograph signals and interpreted the physical meaning of the identified muscle synergies. Based on the human analysis results, we hypothesized a novel control framework that can explain the mechanism of the human motor control. The framework was tested in controlling a pneumatic-driven robotic arm to perform a reaching task. This control method, which uses only two synergies as manipulated variables for driving antagonistic pneumatic artificial muscles to generate desired movements, would be useful to deal with the redundancy problem; thus, suggesting a simple but efficient control for human-like robots to work safely and compliantly with humans.     

Effects of bile acid feeding on hepatic deoxycholate 7α-hydroxylase activity in the hamster

In order to investigate the effects of bile acid feeding on hepatic microsomal deoxycholate 7α-hydroxylase activity, three different bile acids were administered (0.2% w/w in chow) to hamsters for two weeks. Deoxycholate 7α-hydroxylase activity was increased markedly by feeding of cholic acid (CA) and slightly by deoxycholic acid (DCA) Chenodeoxycholic acid (CDCA) had little effect on the enzyme activity. Feeding each of the bile acids significantly inhibited the activity of cholesterol 7α-hydroxylase in the order CDCA≥ DCA>CA. There was no correlation between deoxycholate 7α-hydroxylase activity and cholesterol 7α-hydroxylase activity. It is concluded that the activity of deoxycholate 7α-hydroxylase is up-regulated by feeding DCA and CA and that the mechanism seems to be different from that of cholesterol 7α-hydroxylase. The increased activity of hepatic deoxycholate 7α-hydroxylase by CA and DCA should be beneficial in minimizing the toxic effects of DCA in the hamster.     

Radical-induced ionic polymerization in the presence of maleic anhydride. I. Mechanism of polymerization of maleic anhydride by radical initiators

Three kinds of trapped radicals are observed in poly(maleic anhydride) (Poly-MAH) which were prepared by the use of radical initiators such as AIBN or BPO. It was found that these radicals were transformed to the active species so as to initiate the cationic polymerization. The structure of these radicals was studied by the ESR and the kinetic analysis of MAH polymerization in the presence of various additives.     

Anodic oxidation effects on pyrolytic graphite surfaces in acid

Anodic oxidation effects on the basal and edge surfaces of pyrolytic graphite in acid were studied by laser Raman spectroscopy, and by a gas-phase chemical modification method coupled with X-ray photoelectron spectroscopy. Surface covering fractions were also studied by -epichlorohydrin monolayer formation. It was found that the species of surface chemical groups added by anodic oxidation was closely related to the structure of the oxidized surface. In the case of the basal surface, carboxyl groups were added by anodic oxidation, being always accompanied by the destruction of its surface structure. On the other hand, in the case of the edge surface, hydroxyl groups were added without the destruction of its structure with a mild treatment. With more severe treatment, carboxyl groups were added and this addition was also accompanied by destruction of the surface structure. There was a range of treatment in which hydroxyl groups could be added without destroying the structure. Finally it was confirmed that both carboxyl and hydroxyl groups could make covalent bonds with epoxy groups of -epichlorohydrin.     

Predicting viewer-perceived activity/dominance in soccer games with stick-breaking HMM using data from a fixed set of cameras

We attempted to predict activity/dominance for soccer games, where activity is defined as the degree of activity of the game as perceived by the viewer, whereas dominance is the degree at which the viewer perceives a particular team to dominate over the other team. Such activity/dominance information would help a layman viewer understand the game. It would also enable construction of an automatic digest creation system that extracts scenes having high activity/dominance. There are two facets of this study: 1. The main part of the underlying prediction model consists of a Stick-Breaking Hidden Markov Model, where the data automatically estimates the number of states of the Markov process behind the data. 2. The data used in this paper is vector time-series data consisting of player, referee, and ball positions, together with team information, acquired by a set of fixed cameras. The problem was approached with a Bayesian framework where learning and prediction were implemented by three different methods: Markov Chain Monte Carlo, Expectation Maximization, and Variational Bayes. The proposed method was tested using a dataset consisting of 10 professional soccer games and was compared against standard regression methods.     

A content search system considering the activity and context of a mobile user

People routinely carry mobile devices in their daily lives and obtain a variety of information from the Internet in many different situations. In searching for information (content) with a mobile device, a user’s activity (e.g., moving or stationary) and context (e.g., commuting in the morning or going downtown in the evening) often change, and such changes can affect the user’s degree of concentration on his or her mobile device’s display and information needs. Therefore, a search system should provide the user with an amount of information suitable for the current activity and a type of information suitable for the current context. In this study, we present the design and implementation of a content search system that considers a mobile user’s activity and context, with the goal of reducing the user’s operation load for content search. The proposed system switches between two kinds of content search systems according to the user’s activity: the location-based content search system is activated when the user is stationary (e.g., standing and sitting), while a menu-based content search system is activated when the user is moving (e.g., walking). Both systems present information according to user context. The location-based system presents detailed information via menus and a map according to location-based categories. The menu-based system presents only a few options to enable users to get content easily. Through user experiments, we confirmed that participants could get desired information more easily with this system than with a commercial search system.     

High‐pixel‐rate grating‐light‐valve laser projector

Abstract— A high‐pixel‐rate, high‐contrast (30,000:1) wide‐color‐gamut grating‐light‐valve laser projector is reported. A new optical engine enabling high‐frame‐rate (240 Hz) scan projection is employed. Panoramic wide‐angle‐scan projection with a 64:9 aspect ratio was also developed. Speckle noise is eliminated using a simple but highly efficient technique. The optical throughput efficiency of the grating‐light‐valve laser projector is reviewed.     

Disposition of diadenosine 5',5"'-P1,P4-tetraphosphate (Ap4A) in rats

The disposition of diadenosine 5'5"'-P1,P4-tetraphosphate (Ap4A), an endogenous dinucleotide, was investigated in rats. The degradation of Ap4A in rat plasma was very rapid and could be explained by a Michaelis-Menten equation: Km and Vmax values were 1.69 micrograms/ml and 4.32 micrograms/min/ml, respectively. Ap4A was degraded in rat plasma to ATP and AMP, but not to 2 ADP molecules, and these nucleotides were further degraded through adenosine. The degradations kinetics were examined. After intravenous bolus injection, Ap4A in plasma declined rapidly and the rate of elimination was dose-dependent: the biological half-life was about 3s at the dose of 1 mg/kg and was longer at 3 mg/kg. When Ap4A was administered by intravenous infusion (0.5 or 1.0 mg/kg/min), the plasma level rapidly reached a steady-state, which then rapidly declined after stopping the infusion.