Construction of a robot control system which understands a voice and pointing actions

This research was aimed at making a robot that can go and get an object designated by the user. We produced a robot control system that uses pointing and voice control. This control system is composed of two systems. One system is the object instruction system that uses pointing, and the other is the object instruction system that uses voice. The approximate position of a designated object is recognized by the object instruction system that uses pointing, and information about the object and instructions about the operation are conveyed by the object instruction system that uses voice. This time, the object instruction system that uses pointing has been designed and verified as the first step. A calculation resource to calculate the approximate position of the designated object is obtained when the user points directly at the object. A robot can be moved around a designated object by using this system. The object instruction system that uses voice will be constructed in future work.     

Success rates in a multimodal command language for home robot users

This article considers the success rates in a multimodal command language for home robot users. In the command language, the user specifies action types and action parameter values to direct robots in multiple modes such as speech, touch, and gesture. The success rates of commands in the language can be estimated by user evaluations in several ways. This article presents some user evaluation methods, as well as results from recent studies on command success rates. The results show that the language enables users without much training to command home robots at success rates as high as 88%–100%. It is also shown that multimodal commands combining speech and button-press actions included fewer words and were significantly more successful than single-modal spoken commands.     

An optimum design of robotic food handling by using Burger model

This paper discusses an optimum design approach on robotic food handling by considering the characteristics of viscoelasticity of object. We pick up a traditional Japanese food, “Norimaki” as a typical example with the viscoelastic characteristics. We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution.     

Revolving Vernier Mechanism Controls Size of Linear Homomultimer

A new kind of the Vernier mechanism that is able to control the size of linear assembly of DNA origami nanostructures is proposed. The mechanism is realized by mechanical design of DNA origami, which consists of a hollow cylinder and a rotatable shaft in it connected through the same scaffold. This nanostructure stacks with each other by the shape complementarity at its top and bottom surfaces of the cylinder, while the number of stacking is limited by twisting angle of the shaft. Experiments have shown that the size distribution of multimeric assembly of the origami depends on the twisting angle of the shaft; the average lengths of the multimer are decamer, hexamer, and tetramer for 0°, 10°, and 20° twist, respectively. In summary, it is possible to affect the number of polymerization by adjusting the precise shape and movability of a molecular structure.     

A 63-year-old man with progressive cauda equina/conus medullaris syndrome

BACKGROUND: This article presents results of the acute treatment phase of a 2-site study comparing cognitive behavioral group therapy (CBGT) and treatment with the monoamine oxidase inhibitor phenelzine sulfate for social phobia. METHODS: One hundred thirty-three patients from 2 sites received 12 weeks of CBGT, phenelzine therapy, pill placebo administration, or educational-supportive group therapy (an attention-placebo treatment of equal credibility to CBGT). The "allegiance effect," ie, the tendency for treatments to seem most efficacious in settings of similar theoretical orientation and less efficacious in theoretically divergent settings, was also examined by comparing responses to the treatment conditions at both sites: 1 known for pharmacological treatment of anxiety disorders and the other for cognitive behavioral treatment. RESULTs: After 12 weeks, phenelzine therapy and CBGT led to superior response rates and greater change on dimensional measures than did either control condition. However, response to phenelzine therapy was more evident after 6 weeks, and phenelzine therapy was also superior to CBGT after 12 weeks on some measures. There were few differences between sites, suggesting that these treatments can be efficacious at facilities with differing theoretical allegiances. CONCLUSIONS: After 12 weeks, both phenelzine therapy and CBGT were associated with marked positive response. Although phenelzine therapy was superior to CBGT on some measures, both were more efficacious than the control conditions. More extended cognitive behavioral treatment and the combination of modalities may enhance treatment effect.     

Clinical experience of functional electrical stimulation in complete paraplegia

In the Riordan (bridle) transfer, the posterior tibialis muscle as motor is routed through the interosseous membrane and anastomosed into a "bridle" formed by the distal tibialis anterior and peroneus longus muscles. In theory, the bridle provides inversion/eversion balance even if the transfer effects only tenodesis. However, the procedure has been criticized because its insertion is not into bone. This review analyzes the use of bridle transfer in flaccid paresis involving musculature innervated by the peroneal nerve. Surgery was performed 1 to 3 years after injury for patients with traumatic etiology. Ten patients are reviewed at 61 months' mean follow-up. Eight patients had traumatic peroneal nerve loss. Two had neuromuscular etiology. Evaluation included review of records, telephone interviews, and physical examinations. Data on functional status included walking barefoot running, need for bracing, return to duty, and patient satisfaction. Physical examination recorded ankle position and motions, gait findings, and results of static electromyograms. All patients were able to walk barefoot, but 6 of 10 had a mild to moderate limp. Five patients returned to running initially; only two were able to keep running. Nine patients were brace-free initially (polio sequela required bracing initially), and four others returned to bracing. Of these, two experienced an acute "tearing" and dorsiflexion loss, one sustained a prolonged gradual loss of dorsiflexion, and one sustained a contralateral cerebrovascular accident. Only three of seven patients returned to active duty, and one is on jump status. All patients were satisfied with their initial result. Only two patients had no detectable swing phase problems (both returned to active duty). Five patients had peroneal nerve exploration with repair or neurolysis; two of them sustained complete transections. Postoperative electromyograms showed insignificant, if any, nerve return. The Riordan transfer works well for neuromuscular flaccid paresis and in patients with peroneal nerve injuries with low demands. It may stretch out over time to the point of acute failure in patients with high demands. Concurrent peroneal nerve exploration and repair did not seem to be beneficial in this small study.     

Renal glomerular fibrosis in a cat

Renal glomerular fibrosis was observed in a 1-year-old spayed female Japanese domestic cat that showed clinically advanced renal failure. In the glomeruli, increased homogeneous materials were stained strongly with aniline blue by Masson's trichrome and positive for anti-type III collagen antibody by immunohistochemical staining, causing mesangial sclerosis and capillary collapse. By electron microscopy, randomly arranged fibrils were observed in the expanded subendothelial and mesangial areas, and the fibrils showed periodicity characteristic of collagen fibers in longitudinal sections. These findings of glomerular lesions closely resemble those of human "collagenofibrotic glomerulonephropathy," which has recently been described as a new type of glomerulonephropathy.     

An accurate adaptive NURBS curve interpolator with real-time flexible acceleration/deceleration control

Parametric interpolation has been widely used in CNC machining because of its advantages over the traditional linear or circular interpolation. Many researchers focused on this field and have made great progress in the specific one, NURBS curve interpolation. These works greatly improved the CNC machining with constant feedrate, confined chord error and limited acceleration/deceleration. However, during CNC machining process, mechanical shocks to machine tool caused by the undesired acceleration/deceleration profile will dramatically deteriorate the surface accuracy and quality of the machined parts. This is, in most occasions, very harmful to machine tools. In this paper, an accurate adaptive NURBS curve interpolator is proposed with consideration of acceleration–deceleration control. The proposed design effectively reduces the machining shocks by constraining the machine tool jerk dynamically. Meanwhile, the constant feedrate is maintained during most time of machining process, and thus high accuracy is achieved while the feedrate profile is greatly smoothed. In order to deal with the sudden change of the acceleration/deceleration around the corner with large curvature, a real-time flexible acceleration/deceleration control scheme is introduced to adjust the feedrate correspondingly. Case study has been taken to verify the feasibility and advantages of the proposed design.     

Second-Order Abstract Categorial Grammars as Hyperedge Replacement Grammars

Second-order abstract categorial grammars (de Groote in Association for computational linguistics, 39th annual meeting and 10th conference of the European chapter, proceedings of the conference, pp. 148–155, 2001) and hyperedge replacement grammars (Bauderon and Courcelle in Math Syst Theory 20:83–127, 1987; Habel and Kreowski in STACS 87: 4th Annual symposium on theoretical aspects of computer science. Lecture notes in computer science, vol 247, Springer, Berlin, pp 207–219, 1987) are two natural ways of generalizing “context-free” grammar formalisms for string and tree languages. It is known that the string generating power of both formalisms is equivalent to (non-erasing) multiple context-free grammars (Seki et al. in Theor Comput Sci 88:191–229, 1991) or linear context-free rewriting systems (Weir in Characterizing mildly context-sensitive grammar formalisms, University of Pennsylvania, 1988). In this paper, we give a simple, direct proof of the fact that second-order ACGs are simulated by hyperedge replacement grammars, which implies that the string and tree generating power of the former is included in that of the latter. The normal form for tree-generating hyperedge replacement grammars given by Engelfriet and Maneth (Graph transformation. Lecture notes in computer science, vol 1764. Springer, Berlin, pp 15–29, 2000) can then be used to show that the tree generating power of second-order ACGs is exactly the same as that of hyperedge replacement grammars.