Stealth walking with reduced double-limb support phase and its extension to careful legged locomotion

Stealth walking is an underactuated walking movement completing in one step for a stable and cautious walk on irregular terrains. The generated gait generally consists of the single- and double-limb support phases; during the former, the leg angles are strictly controlled to follow the desired trajectories to make the forefoot land on the ground stealthily, whereas during the latter, the upper body is controlled to return to the initial state while keeping the vertical ground reaction forces acting on both feet positive. This causes, however, the increase of the step period and deterioration of the energy efficiency. To solve this problem, this paper discusses some methods for achieving high-speed stealth walking based on a reduction of the double-limb support phase. First, a model of an underactuated rimless wheel with an upper body is introduced for analysis. Second, a method for generating a stealth walking gait of the linearized model is proposed, and the instability inherent in the gait is mathematically investigated. Third, two methods for extending the obtained results to the nonlinear model are discussed. Fourth, the method is also extended to generate a careful walking gait on the frictionless road surface; the importance and significance of this study are discussed through investigation of a strict stealth walking.     

Nonlinear analysis of an indirectly controlled limit cycle walker

Towards controlling the frequency of limit cycle locomotion as well as adapting to rough terrain and performing specific tasks, a novel and indirect method has been recently introduced using an active wobbling mass attached to limit cycle walkers. One of the strongest advantages of the method is the easiness of its implementation, prompting its applicability to a wide variety of locomotion systems. To deeply understand the nonlinear dynamics for further enhancement of the methodology, we use a combined rimless wheel with an active wobbling mass as an example to perform nonlinear analysis in this paper. First, we introduce the simplified equation of motion and the gait frequency control method. Second, we obtain Arnold tongue, which represents region of entrained locomotion. In regions where the locomotion is not entrained, we explore chaotic and quasi-periodic gaits. To characterize bistability of two different locomotions that underlie hysteresis phenomena, basins of attraction for the two locomotions were computed. The present nonlinear analysis may help understanding the detailed mechanism of indirectly controlled limit cycle walkers.     

High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture

This paper proposes a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot’s center of mass forwards. The primary purpose of this method is to make the impact posture become asymmetrical by actuating the robot’s telescopic legs to easily overcome the potential barrier at mid-stance, accordingly restoring the mechanical energy. First, we introduce a planar rimless wheel model with telescopic legs, and investigate the validity of the stance-leg extension control. The basic properties and efficiency of the generated gait are also numerically analyzed. Second, we extend the method to a planar telescopic-legged biped model, and investigate the validity through numerical simulations. We also discuss the role of asymmetric shape of human foot through efficiency analysis from the point of view of the brake effect, taking the ankle-joint actuation into account.     

Robust pseudo virtual passive dynamic walking with control of swing-leg retraction

This paper proposes a simplified method of underactuated virtual passive dynamic walking without having any singularities in the control input, which is termed as the pseudo virtual passive dynamic walking (PVPDW), and analyzes the gait properties considering quasiconstraint on the impact posture. First, we introduce a planar underactuated biped model that added an upper body by means of a bisecting hip mechanism and formulate the method of PVPDW based on the concept of pseudo center of mass. Second, we introduce a control law for inhibiting swing-leg retraction and analyze the effect on the gait stability. The simulation results show that falling down as a 1-DOF rigid body dramatically increases the stable domain even though the hip angle at impact is not precisely kept constant. Finally, we discuss the mechanism from the energy-loss coefficient point of view.     

Three-Dimension imaging of particle clusters in dilute gas—solid suspension flow

The three dimensional flow structure of dilute gas—solid suspensions in a small-scale circulating fluidized bed (0.200 m riser diameter) was visualized by applying the laser sheet technique. FCC particles were fluidized with sustained solid loading at gas velocities corresponding to the turbulent and the fast fluidization regimes in cases where the solid circulation was sufficient. Three typical shapes of clusters in the core section of the riser were observed. Clusters characterized by a paraboloidal shape heading downward were connected to neighboring clusters at their tail part, forming a three dimensional network structure.     

Densification of Sol-Gel-Derived Mullite Ceramics after Cold Isostatic Pressing up to 1 GPa

Molecular-designed ultrafine mullite precursor powders with a stoichiometric composition were prepared by copolymerization of alkoxides. The precursor powders were calcined in the range from 800° to 1200°C and consolidated by ultra-high-pressure cold isostatic pressing up to 1 GPa. Ultrahigh isostatic pressure of 1 GPa led to a closed packing structure in the green compacts. Interaggregate pores in the green compacts were collapsed by the ultrahigh cold isostatic pressure to reduce the pore size below 6 nm. As a result, the maximum density of the green compacts reached 70% of theoretical. These closely packed green compacts of precursor powders with a stoichiometric composition and calcined at relatively low temperatures could be sintered to >95% of theoretical at 1500°C. Relatively low-temperature sintering below the liquid formation temperature resulted in fine microstructure of the resultant mullite ceramic with a grain size below 300 nm.     

Characteristics of enterotoxin H-producing Staphylococcus aureus isolated from clinical cases and properties of the enterotoxin productivity

Staphylococcal enterotoxin H (SEH) is predicted to be involved in staphylococcal food poisoning. To characterize SEH-producing Staphylococcus aureus isolates from staphylococcal food poisoning cases in Japan, we investigated the relationship between SEH production and coagulase serotype, which is an epidemiological marker, and compared the properties of SEH production with those of staphylococcal enterotoxins A (SEA) and B (SEB). SEH production was determined by a newly developed sandwich enzyme-linked immunosorbent assay. Eighty-six (59.7%) of 144 isolates from staphylococcal food poisoning cases produced SEH. Seventy-one of the SEH-producing isolates simultaneously produced SEA, SEB, or both. All SEH-producing isolates belonged to coagulase type VII, which was the predominant type, representing 99 (68.8%) of 144 isolates. The amount of SEH produced in brain heart infusion was almost the same as the amount of SEA and approximately 10-fold lower than that of SEB. SEH and SEA were produced mainly during the late exponential phase of growth, whereas SEB was produced mostly during the stationary phase. The production levels of SEH and SEA were gradually affected by decreases in water activity, but the production of SEB was greatly reduced under conditions of low water activity. These findings indicate that SEH-producing S. aureus isolates are of high prevalence in staphylococcal food poisoning cases. Given the unique epidemiological characteristic of these isolates, SEH and SEA probably are responsible for food poisoning.     

A model-based vision system for industrial parts using a small computer

A model-based vision system has been successfully implemented in a small computer environment. This approach uses a basic solid modeling system to develop three-dimensional models of mechanical parts. From those models, two-dimensional projections are taken for every stable state of the object, with many orientations around the object's vertical axis for each stable state. These two-dimensional projections are treated as synthetic binary images, from which a variety of features may be measured and extracted. A similar procedure is used for a binary image of an object from a real scene, and features are also extracted for that image. A simple matching procedures uses the model-based feature sets to determine the real object's stable state position and orientation. This paper describes the system in detail and shows examples of its use.     

CRISPR-Cas9–Mediated TIM3 Knockout in Human Natural Killer Cells Enhances Growth Inhibitory Effects on Human Glioma Cells

Glioblastoma (GBM) is the most common and aggressive primary malignant brain tumor in adults. Natural Killer (NK) cells are potent cytotoxic effector cells against tumor cells inducing GBM cells; therefore, NK cell based- immunotherapy might be a promising target in GBM. T cell immunoglobulin mucin family member 3 (TIM3), a receptor expressed on NK cells, has been suggested as a marker of dysfunctional NK cells. We established TIM3 knockout in NK cells, using the clustered regularly interspaced short palindromic repeats (CRISPR)-CRISPR-associated protein 9 (Cas9). Electroporating of TIM3 exon 2- or exon 5-targeting guide RNA- Cas9 protein complexes (RNPs) inhibited TIM3 expression on NK cells with varying efficacy. T7 endonuclease I mutation detection assays showed that both RNPs disrupted the intended genome sites. The expression of other checkpoint receptors, i.e., programmed cell death 1 (PD1), Lymphocyte-activation gene 3 (LAG3), T cell immunoreceptor with Ig and ITIM domains (TIGIT), and TACTILE (CD96) were unchanged on the TIM3 knockout NK cells. Real time cell growth assays revealed that TIM3 knockout enhanced NK cell–mediated growth inhibition of GBM cells. These results demonstrated that TIM3 knockout enhanced human NK cell mediated cytotoxicity on GBM cells. Future, CRISPR-Cas9 mediated TIM3 knockout in NK cells may prove to be a promising immunotherapeutic alternative in patient with GBM.