Trajectory generation and control of a five-bar-link parallel direct-drive robot

This paper describes a dyanamic learning control method for a five-bar-link parallel direct-drive robot. A new method to generate a complex continuous trajectory in Cartesian coordinates is presented. The trajectory is expressed as a composition of a segment of a parametric free-form space curve. Hosaka's form of the Bezier curve of degree 3, is used in this study. The availability of robot control based on this trajectory is proven through computer simulation.     

Multimedia multipoint teleconference system using the 7 kHz audiocoding standard at 64 kbit/s

The International Telegraph and Telephone Consultative Committee (CCITT) has recommended an algorithm to code wideband speech and music (i.e. 7-kHz audio) with 64 kb/s as an international standard (recommendation G.722). A multimedia multipoint teleconference system using the 7-kHz audio coding standard is discussed. System requirements for teleconferencing are examined, and control procedures for the system are examined. A system using digital leased circuits is presented, and the audio-bridging technique used in this system is discussed     

Therapeutic effects of beclomethasone dipropionate enemas on colon damage of inflammatory bowel disease model rats]

The effects of beclomethasone dipropionate (BDP) enemas on ulcerative colitis were investigated by administrating BDP enemas to Fischer male rats with an inflammatory bowel disease induced by 2,4,6-trinitrobenzensulfonic acid (TNB). After administration of a TNB ethanol solution to rats, diarrhea and melena were found in all rats, and the wet tissue weights of the colons in the rats increased by erosion and thickness of epithelial mucous membranes with edema. BDP enemas were administered to the rats one time a day at a dose of 20 or 50 micrograms of BDP for 4 or 11 days from the day 3 after TNB treatment, respectively. After dosing of BDP, the rate of rats developing diarrhea and melena decreased more with time in comparison with that of BDP-free rats, and the symptoms of all rats developing the diseases were improved on the day 4 after administration of a dose of 50 micrograms of BDP. A dose dependent recovery in the wet tissue weights and scores of damages, and the myeloperoxidase (MPO) activity in the tissue were found at the early days (until the day 4). However, their measurements on the day 11 at each dose of BDP were not different from those of control rats significantly, as the damages in the colons of the control rats were recovered naturally with time. In conclusion, the clinical usefulness of BDP enemas was supported by elucidating the dose dependent effect of BDP at the early days in the model rats with an inflammatory bowel disease induced by TNB.     

Formation of conjugated diene and triene products in lipoxygenase oxidation of C18, C20, C22 PUFAs

The determination of conjugated diene formation revealed that the mol % conversions of allcis-6,9,12-octadecatrienoic acid [γ-linolenic, 18:3(n-6)], allcis-5,8,11,14-eicosatetraenoic acid [arachidonic, 20:4(n-6)], allcis-5,8,11,14,17-eicosapentaenoic acid [20:5(n-3)], and allcis-4,7,10,13,16,19-docosahexaenoic acid [22:6(n-3)] into conjugated diene products by soybean lipoxygenase-1 at pH 9.0 were 84, 86, 60 and 40% of that of allcis-9,12-octadecadienoic acid [linoleic, 18:2(n-6)], respectively. On the other hand, the conversions of allcis-9,12,15-octadecatrienoic acid [α-linolenic, 18:3(n-3)], allcis-5,9,12-octadecatrienoic acid (c5,c9,c12-18:3), andtrans-5,cis-9,cis-12-octadecatrienoic acid (t5,c9,c12-18:3) were equal to that of 18:2(n-6). The lowering of the conjugated diene formation in the oxidation of 18:3(n-6), 20:4(n-6), 20:5(n-3), and 22:6(n-3) by the lipoxygenase was thought to be caused by the further oxidation of conjugated diene monohydroperoxides to yield conjugated triene products. For this reason, the conventional lipoxygenase method gave erroneous values forcis,cis-methylene interrupted polyunsaturated fatty acids (PUFA) in oils containing a large amount of 20:5(n-3) and 22:6(n-3) such as fish oils. However, by changing the pH of reaction mixtures from 9.0 to 11.0, the secondary oxidation of conjugated diene monohydroperoxides was completely inhibited, and the PUFA values in fish oils obtained by this improved method were in good agreement with those obtained by a GLC method.     

Measurement of the whole-body 137Cs in residents around the Chernobyl nuclear power plant

To understand the current situation of internal radiation exposure in the population around the Chernobyl Nuclear Power Plant (CNPP), we examined the 137Cs body burden in six residents of Belarus, Ukraine and Russia in 2002 and 2004 using the whole-body counter (WBC) at Nagasaki University (Japan). The data were compared with those of our previous study performed in 1993-1994 using the same method. In 2002 and 2004, peaks of 137Cs were detected in two residents from Gomel, which was heavily contaminated by the CNPP accident, one from Minsk (Belarus) and one from Kiev (Ukraine), but another resident from Minsk showed no 137Cs peaks. The results of the present study suggests that residents around the CNPP are still exposed to chronic 137Cs internal irradiation, probably due to the daily consumption of contaminated domestic foods, but the risk of any disease by the irradiation is quite low. Long-term follow-up of WBC around the CNPP is useful and may contribute to radiation safety regulation together with a reduction of unnecessary radiophobia for the residents.     

Characteristics of heart rate variability entropy and blood pressure during hemodialysis in patients with end-stage renal disease

Entropy (ENT) is a newly developed measure of the complexity of heart rate variability (HRV). The aim of this study was to characterize the complexity of HRV in patients with end-stage renal disease (ESRD) and to find a possible clinical utility. Healthy subjects and patients with ESRD undergoing hemodialysis (HD) were recruited. The HD population consisted of patients with and without diabetes mellitus (DM). An electrocardiogram was recorded before HD, and blood pressure was measured during HD. The coefficients of variation of R-R intervals, high- and low-frequency components, and ratio of the low- to high-frequency components were measured as variables of HRV. The ENT was used to describe the complexity of HRV. Forty-six healthy subjects and 27 HD patients participated in this study. The ENT negatively correlated with the duration of DM (p = 0.001), systolic blood pressure (p = 0.003), and mean blood pressure (p = 0.004) before a HD session. ENT in HD patients was lower than that in healthy subjects (p < 0.01). ENT in HD patients with DM was lower than that in HD patients without DM (p < 0.01). The change in systolic blood pressure (DeltaSBP) during a HD session showed high correlations to ENT and ultrafiltration rate (UFR) of the dialyzer. The following equation was obtained: DeltaSBP = 2.25 x ENT - 2.28 x UFR - 21.27 (R2 = 0.805; p < 0.0001). ENT decreased with uremic and diabetic status. ENT also represents a possible prediction of hypotension during a HD session.     

Hepatic veno-occlusive disease in a case of polymyositis associated with thrombotic thrombocytopenic purpura/hemolytic uremic syndrome

A 50-year-old woman was treated with prednisolone for polymyositis. During the therapy, thrombotic thrombocytopenic purpura/hemolytic uremic syndrome (TTP/HUS) occurred. Neither plasma infusion nor plasma exchange could relieve the clinical manifestations of TTP/HUS. Moreover, massive ascites appeared and worsened her condition. She died approximately one year after the diagnosis of polymyositis. The autopsy revealed centri-lobular hepatic necrosis and nonthrombotic obliteration of hepatic small veins. The diagnosis of hepatic veno-occlusive disease (VOD) was made. It was suspected that common factors other than cytoreductive therapy had damaged the endothelium and caused TTP/HUS and VOD in a case of polymyositis.     

Improvement in the remaining activity of freeze-dried xanthine oxidase with the addition of a disaccharide–polymer mixture

In order to improve the remaining activity of a practically important freeze-dried enzyme, xanthine oxidase (XOD), the effects of disaccharide (sucrose and trehalose), polymer (bovine serum albumin: BSA and dextran) and a mixture of them on the loss of XOD activity during freeze-drying and subsequent storage were investigated. All samples were amorphous solids and their glass transition temperatures (T_g) were evaluated by using differential scanning calorimetry. Although dextran showed no stabilizing effect on the freeze-dried XOD, the others protected XOD from the activity loss during freeze-drying to a certain extent. It was found that the mixture of disaccharide (sucrose or trehalose) and BSA improved the XOD activity synergistically. The XOD activity of the samples decreased gradually during storage at a temperature range of between 25 and 60 °C. Samples stored at temperatures below the T_g showed a lower loss of XOD activity than those stored at just the T_g.     

Shaping futures: A dialogue on chemical engineering education

Engineering as a discipline, profession, practice, and area of study continues to add substantial value in an increasingly complex world. With continually evolving complexity around the planet, such as the need for massive energy transition, global health technologies, or sustainable food systems, how might engineering education practices and theory be considered within these rapid and necessary changes? This paper presents an experiment of co-creation through experiential reflection about the state of chemical engineering education. Four chemical engineering professors engaged in a dialogue, facilitated by a researcher in education, through collaborative and actionable research. This dialogue uncovered innovative possibilities, educational themes, experiences, and opportunities for others in the profession to consider. The process of dialogue also encouraged the development of an imaginative future sense-making, known as futuring, through a collective experience. The findings reveal instructive perspectives on the shape of chemical engineering education that should be of value not only to engineers, but also other professionals, practitioners, or those in various science, technology, and math fields.