Action-based sensor space segmentation for soccer robot learning

Robot learning, such as reinforcement learning, generally needs a well-defined state space in order to converge. However, building such a state space is one of the main issues of robot learning because of the interdependence between state and action spaces, which resembles the well-known "chicken and egg" problem. This article proposes a method of action-based state space construction for vision-based mobile robots. Basic ideas to cope with the interdependence are that we define a state as a cluster of input vectors from which the robot can reach the goal state or the state already obtained by a sequence of one kind of action primitive regardless of its length, and that this sequence is defined as one action. To realize these ideas, we need many data (experiences) of the robot and we must cluster the input vectors as hyper ellipsoids so that the whole state space is segmented into a state transition map in terms of action from which the optimal action sequence is obtained. To show the validity of the method, we apply it to a soccer robot that tries to shoot a ball into a goal. The simulation and real experiments are shown.     

Measurement of incident position of hypervelocity particles on piezoelectric lead zirconate titanate detector

A cosmic dust detector for use onboard a satellite is currently being developed by using piezoelectric lead zirconate titanate (PZT). The characteristics of the PZT detector have been studied by bombarding it with hypervelocity iron (Fe) particles supplied by a Van de Graaff accelerator. One central electrode and four peripheral electrodes were placed on the front surface of the PZT detector to measure the impact positions of the incident Fe particles. It was demonstrated that the point of impact on the PZT detector could be identified by using information on the time at which the first peak of the output signal obtained from each electrode appeared.     

System identification method inheriting steady-state characteristics of existing model

In this paper, we propose an identification method to construct a state-space model that inherits steady-state characteristics from an existing model. It is assumed that in prior to an identification experiment, a designer has a model which accurately expresses steady-state characteristics of an actual system responding to certain inputs. The characteristics are extracted and inherited to a reconstructed state-space model via the combination with a subspace identification method. By applying a change-of-variable technique, the combined identification problem, which is formulated as nonlinear optimisation, is reduced to a least squares problem. Finally, we show the effectiveness of the proposed method in three different numerical simulations.     

Tadalafil Treatment of Mice with Fetal Growth Restriction and Preeclampsia Improves Placental mTOR Signaling

Fetal growth restriction (FGR) is a major cause of poor perinatal outcomes. Although several studies have been conducted to improve the prognosis of FGR in infants, no effective intrauterine treatment method has been established. This study aimed to use tadalafil, a phosphodiesterase 5 inhibitor (PDE5) inhibitor, as a novel intrauterine treatment and conducted several basic and clinical studies. The study investigated the effects of tadalafil on placental mTOR signaling. Tadalafil was administered to mice with L-NG-nitroarginine methyl ester (L-NAME)-induced FGR and associated preeclampsia (PE). Placental phosphorylated mTOR (p-mTOR) signaling was assessed by fluorescent immunohistochemical staining and Western blotting. The expression of p-mTOR was significantly decreased in mice with FGR on 13 days post coitum (d.p.c.) but recovered to the same level as that of the control on 17 d.p.c. following tadalafil treatment. The results were similar for 4E-binding protein 1 (4E-BP1) and S6 ribosomal (S6R) protein, which act downstream in the mTOR signaling pathway. We demonstrate that the tadalafil treatment of FGR in mice improved placental mTOR signaling to facilitate fetal growth. Our study provides the key mechanistic detail about the mode of action of tadalafil and thus would be helpful for future clinical studies on FGR.     

CTLA-4Ig Improves Hyperalgesia in a Mouse Model of Osteoporosis

This study aimed to evaluate skeletal pain associated with osteoporosis and to examine the inhibitory effects of cytotoxic T lymphocyte-associated antigen-4Ig (CTLA-4Ig) administration in ovariectomized (OVX) mice. Eight-week-old female ddY mice were assigned to three groups: sham-operated mice (SHAM) treated with vehicle, OVX mice treated with vehicle (OVX), and OVX mice treated with CTLA-4Ig (CTLA-4Ig). Vehicle or CTLA-4Ig was injected intraperitoneally, starting immediately after surgery. After 4 weeks of treatment, mechanical sensitivity was examined, and the bilateral hind limbs were removed and evaluated by micro-computed tomography, immunohistochemical analyses, and messenger RNA expression analysis. Ovariectomy induced bone loss and mechanical hyperalgesia in the hindlimbs. CTLA-4Ig treatment prevented bone loss in the hindlimbs compared to vehicle administration in the OVX group. Moreover, mechanical hyperalgesia was significantly decreased in the CTLA-4Ig treatment group in comparison to the OVX group. The expression levels of tumor necrosis factor-α (TNF-α) and sclerostin (SOST), as well as the number of osteoclasts, were increased, and the expression level of Wnt-10b was decreased in the OVX group compared with the SHAM group, whereas these parameters were improved in the CTLA-4Ig group compared with the OVX group. The novelty of this research is that CTLA-4Ig administration prevented bone loss and mechanical hyperalgesia induced by ovariectomy in the hindlimbs.     

An analysis of reverse osmotic characteristics of American-standard type tubular module

Reverse osmosis experiments were carried out with a TM-5-14 tubular module to obtain its reverse osmotic characteristics. Analysis of the data based on the general equations proposed by Ohya and Sourirajan (5) gives membrane characteristic constants, A = 0.845 x 10^?6 g·mole H₂O/cm²·atm·s, and (D_AM/ kδ) = 1.38 x 10^-5cm/sec. The experimental data of mass transfer coefficients agree well with the equation proposed by Linton and Sherwood (7).     

A High Body Mass Index and the Vacuum Phenomenon Upregulate Pain-Related Molecules in Human Degenerated Intervertebral Discs

Animal studies suggest that pain-related-molecule upregulation in degenerated intervertebral discs (IVDs) potentially leads to low back pain (LBP). We hypothesized that IVD mechanical stress and axial loading contribute to discogenic LBP’s pathomechanism. This study aimed to elucidate the relationships among the clinical findings, radiographical findings, and pain-related-molecule expression in human degenerated IVDs. We harvested degenerated-IVD samples from 35 patients during spinal interbody fusion surgery. Pain-related molecules including tumor necrosis factor alpha (TNF-alpha), interleukin (IL)-6, calcitonin gene-related peptide (CGRP), microsomal prostaglandin E synthase-1 (mPGES1), and nerve growth factor (NGF) were determined. We also recorded preoperative clinical findings including body mass index (BMI), Oswestry Disability Index (ODI), and radiographical findings including the vacuum phenomenon (VP) and spinal instability. Furthermore, we compared pain-related-molecule expression between the VP (−) and (+) groups. BMI was significantly correlated with the ODI, CGRP, and mPGES-1 levels. In the VP (+) group, mPGES-1 levels were significantly higher than in the VP (−) group. Additionally, CGRP and mPGES-1 were significantly correlated. Axial loading and mechanical stress correlated with CGRP and mPGES-1 expression and not with inflammatory cytokine or NGF expression. Therefore, axial loading and mechanical stress upregulate CGRP and mPGES-1 in human degenerated IVDs, potentially leading to chronic discogenic LBP.     

Influence of anions on the formation of β-FeOOH rusts

The artificial β-FeOOH rusts were synthesized by oxidation of FeCl₂ solutions and hydrolysis of FeCl₃ solutions. Various Na salts such as sulfate, biphosphate, nitrate, and silicate were added to the starting solutions at different anion/Fe molar ratios of 0-0.05. The XRD patterns of the products showed only the diffraction peaks of β-FeOOH. The crystallinity of the products was noticeably reduced by adding and but slightly influenced by adding . The addition of markedly crystallized the products by the hydrolysis of FeCl₃. The N₂ adsorption revealed that the products with were porous particles assembled by β-FeOOH subcrystals. and strongly coordinating to Fe(III) markedly lowered the crystallinity of the products and remained in the formed particles.     

Evaluation of hydrogenated resin acids as molecular markers for tire-wear debris in urban environments

To propose new molecular markers for tire-wear emissions, four dihydroresin acids, that is, 8-isopimaren-18-oic acid (I), 8-pimaren-18-oic acid (II), 13β(H)-abieten-18-oic acid (III), and 13α(H)-abiet-8-en-18-oic acid (IV), were identified and investigated for source specificities, distributions, and environmental stabilities. The absence of I-IV in natural sources and the linear correlations between dihydroresin acids with different skeletons in tires and in environmental samples demonstrated that I-IV are specific markers for synthetic rubbers. The ratio of III + IV to the sum of III + IV plus abietic acid showed the resin acids distribution between different environmental compartments receiving contributions from traffic and natural sources. The physicochemical properties and results of photolysis experiments suggested that I-IV can set lower limits for tire-wear contributions to environmental loads of particulate matter (PM) and polycyclic aromatic hydrocarbons with molecular weight ≥202. By comparing III + IV concentrations or (III+IV)/pyrene or (III+IV)/benzo[a]pyrene ratios in tires and those in environmental matrices, the contributions of tire-wear emissions to PM, pyrene, and benzo[a]pyrene were estimated to be 0.68 ± 0.54%, 6.9 ± 4.8%, and 0.37 ± 0.18% in roadside PM and 0.83 ± 0.21%, 0.88 ± 0.52%, and 0.08 ± 0.06% in rooftop PM.