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21.
This paper proposes a new representation of multibody mechanical systems involving three-dimensional frictional unilateral constraints. The new representation is of the form of a differential algebraic inclusion (DAI) employing a normal cone with a non-Euclidean, singular norm metric. It can be seen as a generalization of a differential algebraic equation (DAE) using Lagrange multipliers, which has been used to represent mechanical systems with equality constraints. The paper also presents an approach to approximate the aforementioned DAI by another form of DAI, which can be equivalently converted into an ordinary differential equation (ODE). The approach can be seen as a generalization of the Baumgarte stabilization, which was originally developed for DAEs. The new DAI representation and its ODE approximation are illustrated with some simple examples. 相似文献
22.
Ryo Yoshinaka 《Theoretical computer science》2011,412(19):1821-1831
Recently Clark and Eyraud (2007) [10] have shown that substitutable context-free languages, which capture an aspect of natural language phenomena, are efficiently identifiable in the limit from positive data. Generalizing their work, this paper presents a polynomial-time learning algorithm for new subclasses of multiple context-free languages with variants of substitutability. 相似文献
23.
Allinson M Kageyama S Nakajima D Kamata R Shiraishi F Goto S Salzman SA Allinson G 《Water science and technology》2012,66(4):768-774
In 2007, samples of treated effluent were collected at point of discharge to the environment from 39 wastewater treatment plants (WWTPs) located across Victoria, Australia grouped by treatment type. Sample genotoxicity was assessed with a high-throughput luminescent umu test method using Salmonella typhimurium TL210 strain, with and without addition of a commercially available metabolic activation system. Samples were also screened using a gas chromatographic-mass spectrometric mass-structure database recognition method. A genotoxic response was observed in half of the samples tested without metabolic activation system (相似文献
24.
Ryo Minegishi Atsushi Takashima Daisuke Kurabayashi Ryohei Kanzaki 《Robotics and Autonomous Systems》2012,60(5):692-699
Insects perform adaptive behavior according to changing environmental conditions using comparatively small brains. Because adaptability is generated through the relationship among brain, body and environment, it is necessary to examine how a brain works under these conditions. In this study, to understand neural processing involved in adaptive behavior, we constructed a brain–machine hybrid system using motor signals related to the steering behavior of the male silkworm moth for controlling a two-wheeled mobile robot. We developed this hybrid system according to the following steps. (1) We selected steering signals corresponding to walking direction that were activated during neck swinging induced by optic flow and pheromone stimuli. (2) To control a robot by neural activity, we implemented a spike-behavior conversion rule such that frequency of the left and right neck motor neurons’ spikes was linearly converted into rotation of the wheels. (3) For electrophysiological multi-unit recordings on a robot, we developed small amplifiers. Using this hybrid system, we could observe the programmed behavioral pattern and orientation toward a pheromone source. Moreover, we compared the orientation behavior of moths and that of the hybrid system at different pheromone stimulus frequencies. From these experiments, we concluded that we could reconstruct silkworm moth behavior on the hybrid system. 相似文献
25.
This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given. 相似文献
26.
Kenji Takizawa Hirokazu Takagi Tayfun E. Tezduyar Ryo Torii 《Computational Mechanics》2014,54(4):895-910
In patient-specific arterial fluid–structure interaction (FSI) computations the image-based arterial geometry comes from a configuration that is not stress-free. We present a method for estimation of element-based zero-stress (ZS) state. The method has three main components. (1) An iterative method, which starts with an initial guess for the ZS state, is used for computing the element-based ZS state such that when a given pressure load is applied, the image-based target shape is matched. (2) A method for straight-tube geometries with single and multiple layers is used for computing the element-based ZS state so that we match the given diameter and longitudinal stretch in the target configuration and the “opening angle.” (3) An element-based mapping between the arterial and straight-tube configurations is used for mapping from the arterial configuration to the straight-tube configuration, and for mapping the estimated ZS state of the straight tube back to the arterial configuration, to be used as the initial guess for the iterative method that matches the image-based target shape. We present a set of test computations to show how the method works. 相似文献
27.
Jet spreading width is one of the important characteristics of water jets discharging into the air. Many researchers have dealt with measuring this width, and contact measuring methods on the water jet surface were employed in a lot of the cases. In order to avoid undesirable effects caused by the contact on the jet surface, we introduce non-contact measuring methods with a laser instrument to the measurements of jet spreading width. In measurements, a transmitter emits sheet-like laser beam to a receiver. The water jet between the transmitter and the receiver interrupts the laser beam and makes a shadow. The minimum and maximum values of the shadow width are measured. In addition, pictures of the water jet are taken with a scale, and the shadow width is measured from the pictures. The experiments on various needle strokes were performed. Three kinds of width consistent with the jet structure were obtained. In the results, it can be concluded that our non-contact measuring methods are feasible. The data of jet spreading widths and jet taper were obtained and are useful for future applications. 相似文献
28.
Dr. Masanobu Nagano Takumi Oguro Ryo Sawada Dr. Toru Yoshitomi Prof. Keitaro Yoshimoto 《Chembiochem : a European journal of chemical biology》2021,22(23):3341-3347
Dysregulation of tumor necrosis factor-α (TNFα), a pro-inflammatory cytokine, causes several diseases, making it an important therapeutic target. Here, we identified a novel DNA aptamer against human TNFα using in vitro selection, which included a high exclusion pressure process against non-binding and weak binders through microbead-assisted capillary electrophoresis (MACE) in only three rounds. Among the 15 most enriched aptamers, Apt14 exhibited the highest inhibitory activity for the interaction between TNFα and its cognate receptor in mouse L929 cells. For further improving the bioactivity of the aptamer, dimerization programed by hybridization was evaluated, resulting in the Apt14 dimer exhibited a twofold higher binding affinity and stronger inhibition compared to the monomer counterpart. Rapid identification of bioactive aptamers using MACE in combination with facile dimerization by hybridization accelerates the discovery of novel bioactive aptamers, paving the way toward replacing current monoclonal antibody therapy with the less expensive and non-immunogenic aptamer therapy. 相似文献
29.
Koreyoshi Imamura Kohshi Kinugawa Ryo Kagotani Mayo Nomura Kazuhiro Nakanishi 《Journal of food engineering》2012
Amorphous matrices made up of sugar molecules, are frequently used in food and pharmaceutical industries. A drawback to their use is that they are susceptible to collapse, as a result of water uptake and an increase in temperature and subsequently crystallize. Herein, the crystallization characteristics of amorphous sugar (sucrose and α-lactose) preparations were analyzed, with the purpose of obtaining knowledge that could lead to the prediction of how long the amorphous state is retained under various conditions. The impact of compression, physical aging and freezing rate on the induction period (tind) for crystallization were examined. Freeze-dried sugar samples were compressed at 74 or 443 MPa (5 min) and then rehumidified at specified RHs. Some freeze-dried sucrose samples were physically aged, and alternatively freeze-drying was conducted under different conditions. The isothermal crystallization of the prepared samples at different temperatures (T), the glass transition and the crystallization temperature (Tcry) were measured, using differential scanning calorimetry. The compression markedly decreased the tind, while significantly lowered the hygroscopicity. Physical aging and slower-freezing also shortened the tind. The tind was found to be correlated exclusively with (Tcry–T), regardless of rehumidification, compression, sugar type, physical aging and freezing rate in the freeze-drying process. 相似文献
30.