Semi-autonomous serially connected multi-crawler robot for search and rescue

In this paper, we develop a semi-autonomous serially connected multi-crawler robot for search and rescue. In large-scale disasters, such as earthquakes and tornadoes, the application of rescue robots to search for survivors under rubble would be beneficial. Snake-like robots (robots composed of serially connected units) are an effective candidate for such robots. Their long body enables them to overcome obstacles, and they can move into narrow spaces because of their thin shape. However, conventional snake-like robots have significant problems with operability. The numerous degrees of freedom of their bodies require complex operation to overcome obstacles, and training is required for the operators. Thus, survivors or community members cannot operate conventional robots to search for victims, despite the availability of such rescue robots. Here, we address this problem and develop a semi-autonomous serially connected multi-crawler robot designed for non-trained operators, such as community members or rescued survivors. It can be controlled easily by a conventional two-channel user interface with levers for turning and straight line motion. To demonstrate the effectiveness of our proposed mechanism, a prototype robot was developed and experiments were conducted. The results confirm that the proposed robot had both higher operability and higher mobility than conventional robots.     

Multinomial Bayesian learning for modeling classical and nonclassical receptive field properties

We study the interplay of Bayesian inference and natural image learning in a hierarchical vision system, in relation to the response properties of early visual cortex. We particularly focus on a Bayesian network with multinomial variables that can represent discrete feature spaces similar to hypercolumns combining minicolumns, enforce sparsity of activation to learn efficient representations, and explain divisive normalization. We demonstrate that maximal-likelihood learning using sampling-based Bayesian inference gives rise to classical receptive field properties similar to V1 simple cells and V2 cells, while inference performed on the trained network yields nonclassical context-dependent response properties such as cross-orientation suppression and filling in. Comparison with known physiological properties reveals some qualitative and quantitative similarities.     

ISS experiments for the clarification of boiling and two-phase flow in microgravity and for the development of high-performance space cold plates

Inflow boiling, gravity effects on the distribution of both phases are observed in a heated tube and heat transfer coefficients due to two-phase forced convection is deteriorated in microgravity. In narrow channels between heated and unheated plates, the increase in subcooling enlarges a size of flattened bubble and reduces the frequency of detachment under microgravity conditions resulting the emphasis of heat transfer deterioration. To clarify reasons for the unknown behaviors of interfacial distribution and corresponding characteristics in heat transfer not easily be clarified through the experiments on ground, the opportunity on the experiments utilizing long-term microgravity duration realized in ISS is required. The experiments on microgravity boiling and two-phase flow are proposed by the collaboration of researchers in five countries. A common test loop is designed to conduct multiple experiments by the interchangeable structures of test sections; a transparent heated tube for the visualized flow boiling, a stainless tube for the measurement of CHF data, a copper surface for the heat transfer data of nucleate boiling with superimposed liquid flows in a duct, a glass heated plate with multiple array of small temperature sensors and transparent heaters for the clarification of mechanisms in nucleate boiling heat transfer, and one or two models of cold plates for practical applications. A direction of researches in the present discipline is proposed based on the existing experimental results and on the idea developed by the present authors.     

Reusing Primitive and Acquired Motion Knowledge for Gait Generation of a Six-legged Robot Using Genetic Programming

There has been growing interest in motion planning problems for mobile robots. In this field, the main research is to generate a motion for a specific robot and task without previously acquired motions. However it is too wasteful not to use hard-earned acquired motions for other tasks. Here, we focus on a mechanism of reusing acquired motion knowledge and study a motion planning system able to generate and reuse motion knowledge. In this paper, we adopt a tree-based representation for expressing knowledge of motion, and propose a hierarchical knowledge for realizing a reuse mechanism. We construct a motion planning system using hierarchical knowledge as motion knowledge and using genetic programming as a learning method. We apply a proposed method for the gait generation task of a six-legged locomotion robot and show its availability with computer simulation.     

The Detection of Immunity against WT1 and SMAD4P130L of EpCAM+ Cancer Cells in Malignant Pleural Effusion

Malignant pleural effusion (MPE) provides a liquid tumor microenvironment model that includes cancer cells and immune cells. However, the characteristics of tumor antigen-specific CD8⁺ T cells have not been investigated in detail. Here, we analyzed MPE samples taken from a patient with pancreatic cancer who received a dendritic cell vaccine targeting Wilms’ Tumor 1 (WT1) antigen over the disease course (two points at MPE^1st and 2^nd, two months after MPE1^st). Epithelial cell adhesion molecule (EpCAM)⁺ cancer cells (PD-L1⁻ or T cell immunoglobulin mucin-3, TIM-3⁻), both PD-1 or TIM-3 positive CD8⁺ T cells, and CD14⁺CD68⁺CD163⁺TIM-3⁺ macrophages increased from the MPE^1st to MPE^2nd. The ratio of WT1-specific cytotoxic lymphocytes (WT1-CTLs) to MPE CD8⁺ T cells and IFN-γ secretion of WT1-CTLs were reduced with disease progression. Coincidentally, the fraction of central memory T (T_CM) of WT1-CTLs was decreased. On the other hand, CD8⁺ T cells in response to SMAD4^P130L, which is homogeneously expressed in EpCAM⁺ cancer cells, were detected using in vitro expansion with the HLA-A*11:01 restrictive SVCVNLYH neoantigen. Furthermore, the CD8⁺ T cell response to SMAD4^P130L was diminished following remarkably decreased numbers of CD8⁺ T_CM in MPE samples. In conclusion, CD8⁺ T cells responding to WT1 or SMAD4^P130L neoantigen expressed in EpCAM⁺ pancreatic cancer cells were detected in MPE. A tumor antigen-specific immune response would provide novel insight into the MPE microenvironment.     

13 years’ operational experience of SPring-8 vacuum system

The first electron beam was stored in SPring-8 storage ring in March 1997. An overview of the 13 years’ operational experience concerning the vacuum system of the SPring-8 storage ring is presented. The evolution of the vacuum system and their performance are summarized. Moreover, the main vacuum failures and their impact on accelerator operation are described in detail. We analyze the relationship between the difference types of vacuum failure and downtime of user experiment.     

Adaptive backstepping control of wheeled inverted pendulum with velocity estimator

In this paper, we introduce a backstepping control design of a wheeled inverted pendulum. Based on a second-order motion equation of the body angle, an adaptive integral backstepping controller is designed to stabilize the body angle. It is shown that the σ-modification rule in the adaptive update law guarantees the boundedness of the errors in estimating the time-varying signal that is an output of a linear system with every bounded input signal. Then, the stabilizing controller for the wheel angle is constructed by a PD-type positive feedback. The derived controller requires the full-state measurements. In the output feedback case, the K filter or the observer backstepping is needed. However, the structure of the controller becomes complicated. We propose a non-model-based differentiator based on the adaptive update law. Since the non-model-based differentiator does not require any knowledge of the dynamic structure of the signal, we can use it as a velocity estimator for unknown nonlinear systems. Therefore, we replaced the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation results for the proposed controller are presented.     

Solid–Liquid Phase Behaviors of Binary Mixtures of Various Partial Acylglycerols by Differential Scanning Calorimetry

Monoacylglycerol (MAG), diacylglycerol (DAG), and triacylglycerol (TAG) are impurities in biodiesel and a major cause of precipitation. Understanding the behavior of such acylglycerols is essential for predicting biodiesel cold flow properties (CFPs). The previous study on MAG/MAG binary mixtures shows that they tend to solidify by forming molecular compounds. In contrast, TAG/TAG mixtures, which have been studied extensively, are commonly eutectic or monotectic systems, in which each component solidifies separately. The present study focuses on binary mixtures of DAG/DAG and different acylglycerol pairs (MAG/DAG, TAG/MAG, and DAG/TAG), and determination of their solid–liquid phase behavior by differential scanning calorimetry. These mixtures are found to behave as eutectic or monotectic systems with no sign of compound formation. As DAG and TAG have lower contents than MAG in biodiesel and they are unlikely to form molecular compounds with MAG, it is suggested that DAG and TAG have little effect on the biodiesel CFPs. Practical Applications: Biodiesel has attracted much interest because its blending with conventional fossil diesel has become more standard with biofuel mandates. From an energy perspective, the solid–liquid phase behavior of acylglycerols will contribute to building prediction models for biodiesel CFPs.     

Effects of highly hydrogenated soybean oil and cholesterol on plasma,liver cholesterol,and fecal steroids in rats

We investigated the relationship between dietary highly hydrogenated soybean oil (HSO) and cholesterol transport in rats. In the first study, to examine the effects of cholesterol transport of different concentrations of HSO in dietary oil, rats were given one of the three diets containing 0, 25, or 50% HSO in dietary oil with cholesterol (5 g/kg diet) or a diet without HSO and cholesterol for 22 d. Feeding the high concentration of HSO prevented the increase in plasma total cholesterol, hepatic total lipids, and cholesterol and the decrease in high-density lipoprotein-cholesterol, which were caused by dietary cholesterol. Moreover, HSO increased the fecal excretion, fecal lipids, and steroids in a dose-dependent manner. In the second study, to examine the effects on cholesterol transport of redistribution of stearic acid in the triacylglycerol species contained in HSO, rats were given one of the six diets containing HSO (distearoylmonoacylglycerol and tristearoylglycerol)-rich, monostearoylglycerol-rich, or palmitic acid-rich oil with/without cholesterol (5 g/kg diet), for 30 d. Whereas the accumulation of cholesterol in the body was reduced, cholesterol excretion was enhanced effectively in rats given the HSO-rich diet compared with rats given the monostearoylglycerol-rich diet. These results suggested that not only the high concentration of stearic acid but also its uneven distribution in HSO-triacylglycerol contributed to the reduction in intestinal cholesterol absorption in rats.     

Vitamin E reduces cholesterol esterification and uptake of acetylated low density lipoprotein in macrophages

The effects of vitamin E on cholesteryl ester (CE) metabolism in 1774 cells were examined. Pretreatment of 1774 cells with vitamin E at concentrations above 50 μM significantly decreased acetylated low density lipoprotein (LDL)-induced incorporation of [¹⁴C]oleate into CF in cells in a dose-dependent manner. This was partly due to vitamin E Also significantly inhibiting the uptake of [³H]CE-labeled acetylated LDL by 1774 cells. A trend existed toward suppression of acyl-CoA:cholesterol acyltransferase (ACAT) activity in the cell lysate at high vitamin E concentration, but there was no effect on hydrolysis of CE. These data indicate that vitamin E reduces the uptake of modified LDL and suppresses ACAT activity, resulting in less cholesterol esterification in macrophages; a novel mechanism underlying the antiatherogenic properties of vitamin E.