Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots

On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.     

Lyapunov-based feedback design and experimental verification of IC engine speed control

In this paper, the speed control problem of internal combustion engines is investigated based on mean-value engine models. The dynamics of internal combustion engines is a complicated nonlinear system, and usually, it is difficult to know the exact values of the physical parameters. First, a Lyapunov-based design method is shown without requiring the full information of the physical parameters. Then, to improve transient performance, the design method is extended to several cases under different operation conditions. Numerical simulation results are presented for comparing the proposed design methods. Finally, experiments are conducted on an engine test bench and the results demonstrate the validity of the proposed design methods. Recommended by Editorial Board member Myotaeg Lim under the direction of Editor Hyun Seok Yang. The authors are grateful to Kai Zheng for his assistance of the model identification experiments. Jiangyan Zhang received the B.E. and M.E. degrees in Electrical Engineering, Yanshan University, China, in 2005 and 2008, respectively. Now, she is a Ph.D. candidate with the Department of Engineering and Applied Sciences, Sophia University, Tokyo, Japan. Her current research interests include nonlinear system control theory and applications to powertrain system control. Tielong Shen received the Ph.D. degree in Mechanical Engineering from Sophia University, Tokyo, Japan, March, 1992. From April 1992, he has been a faculty member of the Chair of Control Engineering in Department of Mechanical Engineering, Sophia University, where he currently serves as professor of the Department of Engineering and Applied Science. His research interests include control theory and application in mechanical systems, power systems, and automotive powertrain. Currently, he is an Associate Editor for the IEEE Control System Society Conference Editorial Board, and is serving as Associate Editor of Journal of Control Theory and Applications, and the Regional Editor Asia-Pacific for International Journal of Modeling, Identification and Control etc. Junichi Kako received the B.E. degree from Nagoya Institute of Technology, Nagoya, Japan. He joined Toyota Motor Corporation, Tokyo, Japan in 1989. He worked on various aspects of automotive powertrain control. From 1989 to 1994, he took part in the team for the development of Laboratory Automation (LA) system, Engineering Office Automation (EOD) system, and embedded system of powertrain control. During 1995–2001, he focused on the engine control systems in Powertrain Management Engineering Division. In 2002, he was with Future Project Division in which he was responsible for the R&D of model-based engine control system. Currently, he is developing engine control systems in the Powertrain Management Engineering Division, Toyota Motor Corporation. Shozo Yoshida received the M.S. degree in Engineering from Kyoto University, Kyoto, Japan. He joined Toyota Motor Corporation, Tokyo, Japan in 2000. From 2000 to 2004, he was with Future Project Division and worked on physical combustion modeling for Model-based Control Development. Since 2005, he has been with the Powertrain Management Engineering Division Toyota Motor Corporation, and is a member of the R&D of Model-based Engine Calibration.     

Development of an epileptic seizure prediction algorithm using R–R intervals with self-attentive autoencoder

Epilepsy is a neurological disorder that may affect the autonomic nervous system (ANS) from 15 to 20 min before seizure onset, and disturbances of ANS affect R–R intervals (RRI) on an electrocardiogram (ECG). This study aims to develop a machine learning algorithm for predicting focal epileptic seizures by monitoring R–R interval (RRI) data in real time. The developed algorithm adopts a self-attentive autoencoder (SA-AE), which is a neural network for time-series data. The results of applying the developed seizure prediction algorithm to clinical data demonstrated that it functioned well in most patients; however, false positives (FPs) occurred in specific participants. In a future work, we will investigate the causes of FPs and optimize the developing seizure prediction algorithm to further improve performance using newly added clinical data.

     

CD63, a member of tetraspan transmembrane protein family, induces cellular spreading by reaction with monoclonal antibody on substrata

We cloned mouse LOX-1 cDNA to take advantage of a gene-targeting technique to clarify the role of LOX-1 in vivo. Mouse LOX-1 was composed of 363 amino acids and had a C-type lectin domain type II membrane protein structure. Mouse LOX-1 had triple repeats of the sequence in the extracellular "Neck domain," which is unlike human and bovine LOX-1. LOX-1 bound oxidized LDL with two classes of binding affinity in the presence of serum. The binding component with the higher affinity showed the lowest value of Kd among the known receptors for oxidized LDL. In the absence of serum, the high affinity component disappeared, suggesting that an unknown co-factor in serum is essential for efficient uptake of oxidized LDL by endothelial cells. A low concentration of unlabeled oxidized LDL displaced 125I-labeled oxidized LDL more efficiently in the presence of serum than in the absence of serum. The co-factor in the serum may be involved in the pathophysiology of atherosclerosis in addition to the oxidation of LDL.     

Relationship of occupation to blood pressure among middle-aged Japanese men--the significance of the differences in body mass index and alcohol consumption

To clarify how and why blood pressure differs between occupations, the proportions of hypertensives, and the measures of blood pressure, body mass index (BMI) and alcohol consumption among the individuals not taking antihypertensive drugs were compared between the eight occupational categories using the data from a health check-up for 589 middle-aged Japanese males, mostly randomly selected from five areas in Japan. After adjusting for age, the relationships of occupation to the proportion of hypertensives and the mean systolic and diastolic blood pressure substantially differed among the five areas. However, after further adjustment for residence, these blood pressure levels (the proportion of hypertensives, and the mean systolic and diastolic blood pressure) were found to be higher for the "Personnel in transport and communications", the "Clerical personnel", the "Managerial and civil personnel" and the "Professional and technical personnel", whereas these values were consistently lowest in the "Service personnel". Age and residence-adjusted mean BMI was also higher for the four occupational categories with the increased blood pressure levels. According to a weighted multiple regression analysis across the eight occupations, the age and residence-adjusted mean BMI was a significant predictor of the age and residence-adjusted mean systolic and diastolic blood pressure (p = 0.068 and 0.018, respectively). These results suggest that the occupation-related changes in BMI may largely contribute to the occupation-related changes in blood pressure.     

Crossover from 3D to 2D metallic conduction in Sr2RuO4

We have investigated the normal-state conduction of superconducting Sr₂RuO₄ (T_c 1K), which is isostructural to La_2–xSr_xCuO₄. The resistivity of single crystals shows a crossover at T_M130K from 3D metallic conduction at lower temperatures to 2D one at higher temperatures. Concerning the temperature dependence of the out-of-plane resistivity, we present a systematic interpretation based on competition between the life time of the quasiparticles and the time for the quasiparticles to travel between the adjacent RuO₂ planes.     

A novel interferon regulatory factor family transcription factor, ICSAT/Pip/LSIRF, that negatively regulates the activity of interferon-regulated genes

We have isolated a novel cDNA clone encoding interferon (IFN) consensus sequence-binding protein in adult T-cell leukemia cell line or activated T cells (ICSAT); this protein is the human homolog of the recently cloned Pip/LSIRF. ICSAT is structurally most closely related to the previously cloned ICSBP, a member of the IFN regulatory factor (IRF) family of proteins that binds to interferon consensus sequences (ICSs) found in many promoters of the IFN-regulated genes. Among T-cell lines investigated, ICSAT was abundantly expressed in human T-cell leukemia virus type 1 (HTLV-1)-infected T cells. When the HTLV-1 tax gene was expressed or phorbol myristake acetate-A23187 stimulation was used, ICSAT expression was induced in Jurkat cells which otherwise do not express ICSAT. When the binding of ICSAT to four different ICSs was tested, the relative differences in binding affinities for those ICSs were determined. To study the functional role of ICSAT, we performed cotransfection experiments with the human embryonal carcinoma cell line N-Tera2. ICSAT was demonstrated to possess repressive function over the gene activation induced by IFN stimulation or by IRF-1 cotransfection. Such repressive function is similar to that seen in IRF-2 or ICSBP. However, we have found that ICSAT has a different repressive effect from that of IRF-2 or ICSBP in some IFN-responsive reporter constructs. These results suggest that a novel mechanism of gene regulation by "differential repression" is used by multiple members of repressor proteins with different repressive effects on the IFN-responsive genes.     

Challenge: Concept of system life and its application to robotics

Artifact systems created by humans interact with the surrounding natural world and have a large-scale influence on our human lives. The most creditable concept to this critical issue of scientific and technological development seems to be “System Life” that is an innovative competence to be embodied into any artifact system for creating harmony in the world of natural entities and artifact systems interacting with each other. System life is defined as a seamless system of sensing, processing, activating and expressing mechanisms governed by system life information. This paper introduces a design approach of robots possessing system life. First, this paper presents the concept of system life comparing it with the conventional design methodology of intelligent systems. Second, the paper introduces an intelligent control methodology using the cubic neural network that the author developed in order to cope with unpredicted failures. Finally, the paper presents various intelligent robots, a skiing robot, autonomous soccer robots, a game playing robot, as new concrete artifact systems designed using the system life concept.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.