Painting robot with multi-fingered hands and stereo vision

In this paper, we describe a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.     

Improved bioabsorbability of synthetic hydroxyapatite through partial dissolution-precipitation of its surface

Even though synthetic hydroxyapatite (HAp) has a chemical composition similar to the mineral phase of bone, it is minimally absorbed and replaced by bone tissue. This could be because HAp is composed of compactly arranged apatite crystals with homogenously large grains. In this study, the surface and non-stoichiometry of the synthetic HAp crystals was modified by partial dissolution and precipitation (PDP) to improve bioabsorbability of HAp. In vitro cell culture demonstrated that more osteoclasts were activated on PDP-HAp compared with HAp. In vivo implantation using a rabbit bone defect model revealed that PDP-HAp was gradually degraded and was replaced by bone tissue. Consistent with the in vitro results, more osteoclasts were activated in PDP-HAp than in HAp, indicating that the former was absorbed through the stimulation of osteoclastic activity. These results suggest that the PDP technique may have clinical utility for modifying synthetic HAp for use as superior bone graft substitutes.     

Growth inhibition of human leukemic cells by WT1 (Wilms tumor gene) antisense oligodeoxynucleotides: implications for the involvement of WT1 in leukemogenesis

We have previously reported expression of WT1 in acute leukemia. To elucidate its biological significance, we examined the effect of the suppression of the WT1 expression by WT1 antisense oligomers on the growth of the leukemic cells expressing WT1. When 20 different WT1 antisense (AS) oligomers covering from the 5' cap sites of the WT1 gene to the 3' end were examined for the inhibitory effect on the growth of K562 cells expressing WT1, four WT1 AS oligomers inhibited the cell growth, whereas WT1 sense and random sequence oligomers had no effect on the cell growth of K562. Moreover, WT1 AS oligomers significantly inhibited the growth of the clonogenic cells of fresh leukemic cells in six of 14 patients with acute myeloid leukemia, in one of two patients with chronic myelogenous leukemia (CML) chronic phase, and in one of one patient with CML blastic crisis. However, these oligomers did not inhibit normal colony-forming unit-granulocyte-macrophage. Western blot analysis clearly demonstrated the significant reduction in the WT1 protein levels in the K562 and fresh leukemic cells that were treated with the WT1 AS oligomers, confirming that the inhibitory effect of the WT1 AS oligomers on the cell growth operates via the reduction in the WT1 protein levels. These results show that WT1 plays an important role in leukemogenesis.     

Real-time in-situ observation of vapor deposition polymerization of N-methylolacrylamide with IR-RAS

The process of vapor deposition polymerization (VDP) of N-methylolacrylamide (NMAA) was real-time in-situ observed with infrared reflection absorption spectroscopy. The red-heated filament was used for production of the initiator for polymerization. The sticking coefficient and the polymer yield were calculated on the basis of plots of absorbance of C=O and C=C stretching peaks against time during and after the deposition. The sticking coefficient of NMAA molecules on the substrate maintained at 265 K was 0.53 in the case of physical vapor deposition without existence of the red-heated filament. This value reached 0.98 on heating the filament up to 2300 K. The polymer yield in the steady state of VDP was 44%, of which 26% and 18% were caused by the polymerization at the same time as deposition and the post-polymerization, respectively.     

Effects of Solute Elements on Primary and Secondary Dendrite Arm Spacings in Fe‐based Alloys

There have been many experiments and theoretical studies of primary dendrites, and most of which have focused on the effects of extrinsic factors such as solidification rate and temperature gradient. However, intrinsic factors such as the kind of solute element and initial solute concentration are also considered to be important for controlling the spacing of primary dendrites. In this study, the effects of intrinsic factors on primary and secondary arm spacings of dendrites were investigated, and changes in a microsegregation index with changes in primary arm spacings and equilibrium distribution coefficient of each solute element were also examined. Fe‐Cr‐C, Fe‐C‐Cr, Fe‐C‐Cr‐Mo, Fe‐C‐Cr‐Mo‐V and Fe‐C‐Cr‐Mo‐V‐W alloys were solidified unidirectionally and water‐quenched. The primary arm spacing increased with increase in initial solute concentration in all alloys because the range of solidification temperature increased with increase in solute concentration. On the other hand, the secondary arm spacing in all alloys decreased with increase in initial solute concentration, and it was proportional to about the one‐third root of local solidification time. The microsegregation index increased with increasing primary arm spacing and with decreasing equilibrium distribution coefficient.     

Purification and characterization of a novel isoform of mast cell tryptase from rat tongue

Rat mast cell tryptase was purified to homogeneity from rat tongue by a series of standard chromatographic procedures. Since the enzyme gave band corresponding to molecular mass of 32-35 kDa on sodium dodecyl sulfate polyacrylamide gel electrophoresis and exhibited a molecular mass of 135 kDa on gel filtration, it was presumed to be a noncovalently associated tetramer. The N-terminal amino acid sequence of 50 residues of the enzyme showed the highest degree of homology with the same region in mouse mast cell protease 7 (92%), and less homology to those of tryptases from man and dog, and peritoneal cells of rats and Mongolian gerbils. The inhibitor specificity of rat tongue tryptase was similar to that of rat peritoneal mast cell tryptase free from trypstatin: it was inhibited by alpha 1-antitrypsin, Kunitz-type soybean trypsin inhibitor and Bowman-Birk soybean trypsin inhibitor, but these inhibitors do not inhibit the tryptases from rat skin, human lung, and dog mast cells. Judging from these results, together with other enzymatic properties, the enzyme may be a novel isoform of tryptase in rat tongue. Analysis by differential staining with peroxidase-labeled lectins of the enzyme suggested that it has tri- and/or tetraantennary complex-type oligosaccharides containing a relatively high amount of sialic acid. The immunohistochemical distribution of this enzyme indicated that the reactive antigen was specific in connective tissue but not in mucosal mast cells.     

Compositional and histological comparison of carbonate apatite fabricated by dissolution–precipitation reaction and Bio-Oss<Superscript>®</Superscript>

Carbonate apatite (CO₃Ap) is an inorganic component of bone. This study aimed to compare the composition and tissue response to of CO₃Ap (CO₃Ap-DP) fabricated by the dissolution–precipitation reaction using calcite as a precursor and Bio-Oss®, which is widely used in orthopedic and dental fields as a synthetic bone substitute. X-ray diffraction and Fourier transform infrared results showed that CO₃Ap-DP and Bio-Oss® were both B-type carbonate apatite with low crystallinity. The average sizes of CO₃Ap-DP and Bio-Oss® granules were 450?±?58 and 667?±?168μ?m, respectively, and their carbonate contents were 12.1?±?0.6 and 5.6?±?0.1?wt%, respectively. CO₃Ap-DP had a larger amount of CO₃ than Bio-Oss® but higher crystallinity than Bio-Oss®. When a bone defect made at the femur of rabbits was reconstructed with CO₃Ap-DP and Bio-Oss®, CO₃Ap-DP granules were partially replaced with bone, whereas Bio-Oss® remained at 8 weeks after implantation. CO₃Ap-DP granules elicited a significantly larger amount of new bone formation at the cortical bone portion than Bio-Oss® at 4 weeks after the implantation. The results obtained in the present study demonstrated that CO₃Ap-DP and Bio-Oss® showed different behavior even though they were both classified as CO₃Ap. The CO₃ content in CO₃Ap played a more important role than the crystallinity of CO₃Ap for replacement to bone and high osteoconductivity.

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Studies on high‐speed melt spinning of noncircular cross‐section fibers. III. Modeling of melt spinning process incorporating change in cross‐sectional shape

A numerical analysis program for high‐speed melt spinning of flat and hollow fibers was developed. Change in cross‐sectional shape along the spin line was incorporated adopting a formulation in which energy reduction caused by the reduction of surface area was assumed to be equal to the energy dissipation by viscous flow in the plane perpendicular to the fiber axis. In the case of flat fiber spinning, the development of temperature distribution in the cross section was considered. It was found that the empirical equations for air friction and cooling of the spin line of circular fibers can be applied for the flat fiber spin line if the geometrical mean of long‐axis and short‐axis lengths was adopted, instead of fiber diameter, as the characteristic length for Reynolds number and Nusselt number. Three features expected through the high‐speed spinning of noncircular cross‐section fibers could be reproduced: (1) although cooling of the flat fiber spin line was enhanced, calculated tension at the position of solidification was not affected much by the difference in cross‐sectional shape; (2) change in cross‐sectional shape proceeded steeply near the spinneret; and (3) temperature at the edge became significantly lower than that at the center in the cross section of flat fibers. © 2001 John Wiley & Sons, Inc. J Appl Polym Sci 80: 1589–1600, 2001