Geographic population structure and sequence divergence in the mitochondrial DNA control region of the Japanese wild boar (Sus scrofa leucomystax), with reference to those of domestic pigs

Mitochondrial DNA (mtDNA) control regions from 40 Japanese wild boars were examined by direct sequencing after amplification by PCR. From the DNA sequences obtained, we found eight haplotypes, whose differences arose via transitions. The geographical distribution of these different haplotypes indicated that wild boar populations inhabited limited areas and that there was some restricted gene flow between local populations. Eight mtDNA haplotypes from Eastern and Western domestic pigs and the Ryukyu wild boar were also analyzed as references to those from Japanese wild boars. The cluster analyses of the control-region sequences showed that those from Japanese wild boars belong to the Asian type as do those from Eastern domestic pigs and the Ryukyu wild boar, which differed from the European type (Western domestic pigs).     

Metal-organic vapor-phase epitaxy growth and characterization of thick (100) CdTe layers on (100) GaAs and (100) GaAs/Si substrates

The growth characteristics and crystalline quality of thick (100) CdTe-epitaxial layers grown on (100) GaAs and (100) GaAs/Si substrates in a metal-organic vapor-phase epitaxy (MOVPE) system for possible applications in x-ray imaging detectors were investigated. High-crystalline-quality epitaxial layers of thickness greater than 100 μm could be readily obtained on both types of substrates. The full width at half maximum (FWHM) values of the x-ray double-crystal rocking curve (DCRC) decreased rapidly with increasing layer thickness, and remained around 50–70 arcsec for layers thicker than 30 μm on both types of substrates. Photoluminescence (PL) measurement showed high-intensity excitonic emission with very small defect-related peaks from both types of epilayers. Stress analysis carried out by performing PL as a function of layer thickness showed the layers were strained and a small amount of residual stress, compressive in CdTe/GaAs and tensile in CdTe/GaAs/Si, remained even in the thick layers. Furthermore, the resistivity of the layers on the GaAs substrate was found to be lower than that of layers on GaAs/Si possibly because of the difference of the activation of incorporated impurity from the substrates because of the different kinds of stress existing on them. A heterojunction diode was then fabricated by growing a CdTe epilayer on an n⁺-GaAs substrate, which exhibited a good rectification property with a low value of reverse-bias leakage current even at high applied biases.     

Study of fluorine doping during vapour-phase axial deposition sintering process

The fluorine doping process of pure silica soot with various type of fluorine gases in the vapour-phase axial deposition (VAD) sintering process was investigated in detail. This investigation showed that the doping level is proportional to the 1/4 power of the concentration of the fluorine gas, and the achievable reduction of relative refractive index is –0.75% with this process. The kinetic investigation clarified that the fluorine doping process consists of the doping and dissociation reactions; the former reaction obeys the 1/2 power of the SiF₄ partial pressure and the latter the two power of fluorine content [SiO_1.5F], where SiO_1.5F represents a silicon tetrahedron consisting of one fluorine and three bridging oxygen atoms in glass. The fluorine content is proportional to the 1/4 power of the SiF₄ partial pressure at an equilibrium where the doping reaction is in competition with the dissociation reaction.     

Learning proactive behavior for interactive social robots

Learning human–robot interaction logic from example interaction data has the potential to leverage “big data” to reduce the effort and time spent on designing interaction logic or crafting interaction content. Previous work has demonstrated techniques by which a robot can learn motion and speech behaviors from non-annotated human–human interaction data, but these techniques only enable a robot to respond to human-initiated inputs, and do not enable the robot to proactively initiate interaction. In this work, we propose a method for learning both human-initiated and robot-initiated behavior for a social robot from human–human example interactions, which we demonstrate for a shopkeeper interacting with a customer in a camera shop scenario. This was achieved by extending an existing technique by (1) introducing a concept of a customer yield action, (2) incorporating interaction history, represented by sequences of discretized actions, as inputs for training and generating robot behavior, and (3) using an “attention mechanism” in our learning system for training robot behaviors, that learns which parts of the interaction history are more important for generating robot behaviors. The proposed method trains a robot to generate multimodal actions, consisting of speech and locomotion behaviors. We compared this study with the previous technique in two ways. Cross-validation on the training data showed higher social appropriateness of predicted behaviors using the proposed technique, and a user study of live interaction with a robot showed that participants perceived the proposed technique to produce behaviors that were more proactive, socially-appropriate, and better in overall quality.     

Effect of strong gravitational field on oriented crystalline perovskite-type manganese oxide La<Subscript>1−<Emphasis Type="Italic">x</Emphasis></Subscript>Sr<Subscript><Emphasis Type="Italic">x</Emphasis></Subscript>MnO<Subscript>3</Subscript>

We report the effect of a strong gravitational field on oriented crystalline perovskite-type manganese oxide La_1?x Sr _x MnO₃ (LSMO). The perovskite-type manganese oxides La_1?x Sr _x MnO₃ (LSMO) have been investigated for giant magnetoresistance (GMR) by controlling the hole-doping level (x). A strong gravitational field can change in crystalline state and the enhancement of usual diffusion. We subjected oriented crystalline La_1?x Sr _x MnO₃ with different grain and grain-boundary (GBs) Sr concentrations to a strong gravitational field and investigated the resulting changes in the A-site cation diffusion and physical properties of the material. Electron probe micro-analysis (EPMA) results showed appearance of the GBs where the Sr concentration was quite high compared with in other GBs. The quantitative analysis at the grain and GBs indicated that cation diffusion was more enhanced than the annealed one. The temperature dependence of the magnetic susceptibility of the gravity samples changed with the Sr concentration in the grains. The temperature dependence of the resistivity curves of the gravity sample showed several abrupt changes, which corresponded to phase transitions at the grains and GBs, which may be caused by composition changes.     

Predictive control method for a redundant robot using a non-parametric predictor

A bio-inspired robot with many degrees of freedom (DOFs) might be beneficial in coping with various situations that occur in a real environment, because its physical structure resembles that of an animal it is modeled after. However, because of its complicated structure, it is difficult to explicitly model the dynamics and to design the control rules. In this study, we propose a predictive control method based on a non-parametric method. Instead of conducting parameter estimation for a certain parametric model, system identification is performed by collecting data. We apply our method to the control of a robot with a complicated structure. Experimental results show that the control of a robot with many DOFs can be achieved by the proposed method.     

Decentralized control scheme for adaptive earthworm locomotion using continuum-model-based analysis

Crawling locomotion has been the focus of attention in the field of robotics because various applications of it are expected. However, the design methodologies for crawling robots, which can be applied in various environments, are not yet established. Therefore, we considered an earthworm as our model and employed an unconventional approach: we analyzed the motion of the earthworm with a continuum model and derived an optimal force distribution for its efficient propulsion, based on which we proposed an autonomous decentralized control scheme. The validity of the proposed control scheme was confirmed via simulations.     

Relative Nuclease Resistance of a DNA Aptamer Covalently Conjugated to a Target Protein

A major obstacle to the therapeutic application of an aptamer is its susceptibility to nuclease digestion. Here, we confirmed the acquisition of relative nuclease resistance of a DNA-type thrombin binding aptamer with a warhead (TBA₃) by covalent binding to a target protein in the presence of serum/various nucleases. When the thrombin-inhibitory activity of TBA₃ on thrombin was reversed by the addition of the complementary strand, the aptamer was instantly degraded by the nucleases, showing that the properly folded/bound aptamer conferred the resistance. Covalently binding aptamers possessing both a prolonged drug effect and relative nuclease resistance would be beneficial for in vivo translational applications.     

Control of real-world complex robots using a biologically inspired algorithm

Elementary living beings, like bacteria, are able to reach food sources using only limited and very noisy sensory information. In this paper, we describe a very simple algorithm inspired from bacteria chemotaxis. We present a Markov chain model for studying the effect of noise on the behavior of an agent that moves according to this algorithm, and we show that, counterintuitively, the application of noise can increase the expected average performance over a fixed available time. After this theoretical analysis, experiments on real-world application of this algorithm are introduced. In particular, we show that the algorithm is able to control a complex robot arm, actuated by 17 McKibben pneumatic artificial muscles, without the need of any model of the robot or of its environment.