RUNA: a multimodal command language for home robot users

This article describes a multimodal command language for home robot users, and a robot system which interprets users’ messages in the language through microphones, visual and tactile sensors, and control buttons. The command language comprises a set of grammar rules, a lexicon, and nonverbal events detected in hand gestures, readings of tactile sensors attached to the robots, and buttons on the controllers in the users’ hands. Prototype humanoid systems which immediately execute commands in the language are also presented, along with preliminary experiments of faceto-face interactions and teleoperations. Subjects unfamiliar with the language were able to command humanoids and complete their tasks with brief documents at hand, given a short demonstration beforehand. The command understanding system operating on PCs responded to multimodal commands without significant delay. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Is outer arm dynein intermediate chain 1 multifunctional?

The outer arm dynein of sea urchin sperm axoneme contains three intermediate chains (IC1, IC2, and IC3; M(r) 128,000, 98,000, and 74,000, respectively). IC2 and IC3 are members of the WD family; the WD motif is responsible for a protein-protein interaction. We describe here the molecular cloning of IC1. IC1 has a unique primary structure, the N-terminal part is homologous to the sequence of thioredoxin, the middle part consists of three repetitive sequences homologous to the sequence of nucleoside diphosphate kinase, and the C-terminal part contains a high proportion of negatively charged glutamic acid residues. Thus, IC1 is a novel dynein intermediate chain distinct from IC2 and IC3 and may be a multifunctional protein. The thioredoxin-related part of IC1 is more closely related to those of two redox-active Chlamydomonas light chains than thioredoxin. Antibodies were prepared against the N-terminal and middle domains of IC1 expressed as His-tagged proteins in bacteria. These antibodies cross-reacted with some dynein polypeptides (potential homologues of IC1) from distantly related species. We propose here that the three intermediate chains are the basic core units of sperm outer arm dynein because of their ubiquitous existence. The recombinant thioredoxin-related part of IC1 and outer arm dyneins from sea urchin and distantly related species were specifically bound to and eluted from a phenylarsine oxide affinity column with 2-mercaptoethanol, indicating that they contain vicinal dithiols competent to undergo reversible oxidation/reduction.     

Optical coherent broad-band transmission for long-haul anddistribution systems using subcarrier multiplexing

Signal multiplexing techniques for coherent optical transmission are compared, and appropriate application for a coherent subcarrier multiplexing (SCM) system is discussed. Optical frequency modulation (FM) using direct modulation of a distributed-feedback laser diode (DFB-LD) and a heterodyne detection is shown to be feasible. A transmission system using a local laser in the transmitter is unaffected by polarization and is cost effective. Phase noise can be suppressed by a phase-noise-canceling circuit (PNC) in a heterodyne receiver. This circuit can also effectively compensate for the frequency of instability of light sources. A theoretical simulation of a coherent SCM system showed that 100 channels of 30-MHz FM signal or 15 channels of 155-Mb/s signal can be distributed to 10000 subscribers using single-stage or double-stage optical amplifiers     

Simvastatin suppresses glomerular cell proliferation and macrophage infiltration in rats with mesangial proliferative nephritis

Inhibition of 3-hydro-3-methylglutaryl coenzyme A reductase inhibits the production of mevalonate and has been shown to suppress proliferation in many cell types. Therefore, 3-hydro-3-methylglutaryl coenzyme A reductase inhibitors may have a beneficial effect in glomerular disease, because glomerular cell proliferation is a central feature in the active glomerular injury. This study examines the effect of simvastatin on glomerular pathology in a rat mesangial proliferative glomerulonephritis (GN) induced by anti-thymocyte antibody (anti-Thy 1.1 GN). There was no difference in the degree of the antibody and complement-mediated initial injuries between simvastatin-treated and control GN rats. The most pronounced feature of simvastatin-treated GN was the suppression of the early glomerular cell proliferation. The proliferative activity was maximal at day 4 after disease induction (26.5+/-7.0 of proliferating cell nuclear antigen-positive cells/glomerulus); however, approximately 70% of proliferation was suppressed by simvastatin treatment. At day 4 after disease induction, simvastatin administration also decreased alpha-smooth muscle actin expression in the glomerulus, which is a marker for mesangial cell activation. Inhibition of monocyte/macrophage recruitment into glomeruli by simvastatin was also a prominent feature. There was a 30% decrease in the number of glomerular ED-1+ cells by simvastatin treatment at day 2 after disease induction. Furthermore, simvastatin remarkably suppressed subsequent mesangial matrix expansion and type IV collagen accumulation in glomeruli. We also found that the platelet-derived growth factor expression was reduced in simvastatin-treated nephritic rats, which might simply reflect the reduction in mesangial cell proliferation and mesangial cellularity. There was no significant difference in plasma cholesterol or triglyceride levels between simvastatin- and vehicle-treated nephritic rats at day 2 and day 4, which corresponded to the times when simvastatin treatment resulted in a reduction in mesangial cell proliferation. In conclusion, this is the first report to find that mesangial cell proliferation and matrix expansion have been blocked by simvastatin in vivo. The protective effect of simvastatin in the matrix expansion in anti-Thy1.1 GN was partly by inhibition of mesangial cell proliferation and monocyte/ macrophage recruitment into glomeruli, which were independent of a change in circulating lipids.     

Transformation of myelofibrosis into acute myelogenous leukemia (M0) with multiple tumor emboli

AIMS: To develop a DNA based plate hybridisation assay for the detection of polymerase chain reaction (PCR) products amplified from Aspergillus fumigatus DNA; and to determine the sensitivity of this technique and compare it with Southern blotting. METHODS: A half-log dilution series of DNA extracted from A fumigatus was amplified with specific primers, one of which was 5' end labelled with biotin. PCR products were subsequently detected by agarose gel electrophoresis, Southern blotting, and binding of the products to a streptavidin coated microtitre well, followed by non-radioactive colorimetric detection. Amplification was carried out 10 times for each DNA dilution and a plot of initial DNA concentration against signal intensity was made. RESULTS: A DNA concentration of 1.5 pg could be detected by agarose gel electrophoresis and Southern blotting with a non-radioactively labelled aspergillus specific probe; 1.5 pg was detectable by streptavidin binding of the PCR products to a microtitre plate. The signal from the microtitre plate detection was proportional to the amount of DNA in the PCR reaction on a log-log scale between 100 and 1 pg of DNA. CONCLUSIONS: A DNA based plate hybridisation assay for the detection of A fumigatus PCR products is as sensitive as Southern blotting. However, results are obtained in three hours rather than the three days required for agarose gel electrophoresis, blotting, hybridisation, and detection.     

Effect of naloxone on the bladder activity of rabbits with acute spinal injury

BACKGROUND: Naloxone enhances bladder activity in patients with chronic spinal cord injury. However, there are few reports on naloxone for bladder morbidity in acute spinal cord injury. METHODS: We performed a prospective, controlled study of the effects of naloxone on bladder function in rabbits with and without surgical transection of the spinal cord at the 10th thoracic vertebra. Acute and chronic stages of injury were defined according to bladder function. Naloxone was given intravenously at both stages, and intrathecally at the acute stage. Bladder activity was monitored by cystometry. Blood concentrations of methionine-enkephalin were measured by radioimmunoassay. RESULTS: Spinal cord injuries were acute 1 or 2 days after surgery, and chronic after 1 or 2 weeks. Bladder capacity significantly decreased after 0.01 mg of intravenous naloxone in uninjured control rabbits, and after 0.03 mg of intravenous naloxone in rabbits with chronic-phase injuries. During the acute-injury phase, 0.3 mg of intravenous naloxone, or 0.02 mg of intrathecal naloxone, was necessary to evoke the micturition reflex. No significant changes in blood enkephalin levels were seen before or after spinal cord injury. CONCLUSION: In rabbits with acute spinal cord injury, intrathecal naloxone evoked the micturition reflex at a much lower dose than did intravenous naloxone. Intrathecal naloxone promises to become a new therapy for the acute stage of spinal cord injury for active recovery of bladder function, and could replace current therapy.     

MRI of groove pancreatitis

PURPOSE: The purpose of this work is to describe the findings on MRI in patients with groove pancreatitis, a specific form of chronic pancreatitis affecting the groove between the pancreatic head, the duodenum, and the common bile duct. METHOD: MR images, including MR cholangiopancreatography, of five patients with groove pancreatitis were reviewed. Three patients underwent pancreatoduodenectomy due to serve duodenal stenosis, and the MR findings were compared to the histologic findings. RESULTS: A sheet-like mass was demonstrated between the pancreatic head and the duodenum in all patients. The masses were hypointense relative to pancreatic parenchyma on T1-weighted images and iso- to slightly hyperintense on T2-weighted images. After administration of Gd-DTPA, the masses showed delayed enhancement. Histologically, fibrous scar tissue was detected in the groove. CONCLUSION: MR images can clearly demonstrate the fibrous tissue in the groove in groove pancreatitis, and MR cholangiopancreatography can also provide useful information.     

Thymic carcinoma which developed in a thymic cyst

The first human infection caused by Ascotricha chartarum of the maxillary sinus is described. The patient, a 35-year-old woman, developed a hard bony swelling on the right cheek. Her maxillary X-ray showed complete opacity of the right maxillary antrum with a shadow of erosion. C.T. scan revealed a radio opaque mass having vacuolated appearance in the antrum. The debris removed from the antrum contained phaeoid fungal elements. At places, softening of the bone was observed. The mucoperiosteum exhibited acute inflammatory reaction and invasion by the pathogen. The pale brown to subhyaline fungal elements in biopsy tissue grew Ascotricha chartarum, a phaeoid ascomycetous fungus in culture. The patient had a smooth recovery when treated with betadine lavage and itraconazole after surgical intervention.     

Evaluation of electric motor and gasoline engine hybrid car using solar cells

We evaluated the utility of a hybrid car in which both power sources of an electric motor and a gasoline engine are used and solar cells are settled on the roof and the bonnet. An array of 1.6 kW solar cells was installed on the top of a building to charge the batteries by solar energy. Though the capacities of the electric motor and batteries are half compared with conventional electric vehicles, we confirmed that this hybrid car has sufficient utility for practical use. The whole electric energy consumed in a day can be supplied by 1.6 kW solar cell system.     

Analysis on hopping mechanism of planetary robotic vehicle by microgravity experiments

For future exploration missions to small planetary bodies, in-situ surface observation by robots would be a promising method to investigate the target body whose surface gravity is very small. The authors have researched the mobility system under the microgravity environment and proposed a new mobile system which drives a robot by hopping. Due to the uncertainty of the escape velocity from the target small body, the hop velocity of the robot has to be controlled on-board. This paper proposes a velocity control method of the hopping mechanism, which was evaluated by microgravity experiments and compared with numerical simulation analyses.