Intelligent healthcare service based on context inference using smart device

In the field of “U-Healthcare Service”, many studies have been actively conducted to develop “smart device”-based healthcare applications that enable healthcare providers and patients to be better served through interoperations among various kinds of sensors and wireless network interfaces. In particular, contemporary intelligent healthcare services not only recognize users’ context information through smart devices, computers, and so forth, but also acquire information from heterogeneous sensors to achieve context-aware inference services. Among such information, the weather information is tightly related to diseases such as asthma and allergies. Therefore, there is a high demand for research to utilize the weather information for healthcare services. In this paper, we propose a context inference-based intelligent healthcare service that exploits both the weather conditions information and the diverse healthcare ontologies available on the Internet. The proposed service aims at modeling a context ontology in users’ healthcare service environment and defining the inference rules, thereby accomplishing a satisfactory real-time healthcare service.     

Scaled Jacobian transpose based control for robotic manipulators

This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.     

Development and control of a new AUV platform

This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is designed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasibility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle.     

Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Analysis of deformation processes in glassy polycarbonate using internal friction measurements during a tensile test

Internal friction has been measured by torsion at 1 Hz during tensile tests performed on glassy polycarbonate at room-temperature. Steady-state flow and transient effects have been studied during continuous tensile tests and strain-rate changes. During steady-state, internal friction and flow-stress vary in a similar way with strain-rate. But during transients, internal friction varies continuously while flow-stress passes through a maximum (or a minimum). These results are interpreted assuming that non-elastic deformation of glassy polymers requires some microscopic discontinuous processes such as motion of defects. Two parameters are considered: the velocity v and the density ρ of mobile defects. Assuming that the former is directly related to the flow stress, it has been shown that internal friction is related to the density of mobile defects ρ. This feature is used to interpret the different stages of a tensile test curve. Activation volumes for both velocity and density of mobile defects are calculated from experimental data.     

Interaction of CETP inhibitory peptide and lipoprotein substrates in cholesteryl ester transfer assay: relationship between association properties and inhibitory activities

In a previous study, CETP inhibitory peptide (3 kDa) was isolated from hog plasma. The peptide, synthesized chemically according to the amino acid sequence of the 3-kDa peptide (designated P₂₈), showed CETP inhibitory activity both in vitro and in vivo [Cho et al. (1998) Biochim. Biophys. Acta 1391, 133–144]. We report herein further unique features of P₂₈ when it was associated with the cholesteryl ester (CE)-donor and-acceptor lipoproteins. Lipoprotein substrates with P₂₈ present in both HDL (as a CE-donor) and LDL (as a CE-acceptor) served as poor substrates, with CE-transfer activity decreased up to 60% compared to normal substrates without P₂₈. P₂₈ was found to be located in HDL fractions of hog plasma and showed the same electromobility as that visualized by PAGE on 7% polyacrylamide gel under nondenaturing conditions. Addition of apolipoprotein A-1 (apoA-1) or apoB antibody to a normal CE-transfer mixture did not alter CE-transfer activity. However, addition of apoA-1 or −B antibody to a CETP-inhibition mixture decreased the inhibitory activity of P₂₈ by ca. 20%. Western blot analysis revealed that P₂₈ was associated only with human and hog HDL among several lipoproteins purified from human, hog, and rabbit. CFTP-inhibition assays with various lipoprotein substrates revealed that P₂₈ exhibited substrate-specific inhibitory activity. The inhibitory activity of P₂₈ was highly dependent on the type of lipoprotein substrate (whether CE-donor or-acceptor); P₂₈ inhibited CE transfer from HDL to LDL, but it did not inhibit CE transfer from HDL to HDL.     

The onset of Taylor-Görtler vortices in impulsively decelerating swirl flow

The onset of hydrodynamical instability induced by impulsive spin-down to rest in a cylinder containing a Newtonian fluid is analyzed by using propagation theory. It is well-known that the primary transient swirl flow is laminar, but with initial high velocities secondary motion sets in at a certain time. The dimensionless critical time Τ_c to mark the onset of instability is presented here as a function of the Reynolds number Re. Available experimental data indicate that for large Re deviation of the velocity profiles from their momentum diffusion occurs starting from a certain time Τ≈4Τ_c. This means that secondary motion is detected at this characteristic time. It seems evident that during Τ_c⪯Τ⪯4Τ_c, secondary motion is relatively very weak and the primary diffusive momentum transfer is dominant.     

Structure of poly(vinyl alcohol)-iodine complex formed in the amorphous phase of poly(vinyl alcohol) films

The effect of syndiotactivity of poly(vinyl alcohol) (PVA) both on the formation and thermal stability of the complex formed in the amorphous phase of PVA films is investigated, and then a model of the complex is presented. The amount of the complex formed in syndiotacticity-rich PVA is much larger than that formed in atactic PVA under a given iodine-soaking condition, and the former complex has a higher thermal stability in the soaking solution than the latter. The complex formed in the amorphous phase is proposed to have such a structure as that in which a linear polyiodine I₅^? or I₅^? with a 3.1 A? periodicity is enveloped by four PVA segments of syndiotactic configuration with extended conformation. In this model, these four PVA chains participating in a complex are supposed to be fixed by interchain hydrogen bonds. The observed X-ray meridional intensity curve of iodinated PVA film can be explained by a series of two I₅^?. © 1993 John Wiley & Sons, Inc.     

Transient behaviour of encapsulated enzyme reactor systems

Mathematical models are developed for the transient behaviour of encapsulated enzyme reactor systems such as the continuous stirred tank reactor (CSTR) and the packed bed tubular reactor. The rate processes taking place in the encapsulated enzyme bed are approximated by using a combined rate control model of enzyme reaction and membrane diffusion. The change in transient substrate concentration is obtained by using the developed rate expression in the material balance over the substrate as a function of time for the CSTR and as a function of time and position for the packed bed tubular reactor. The effects of various parameters such as the enzymic reaction rate constant, Michaelis constant, diffusional resistance of membranes, and Peclet number on the substrate concentration distribution, which varies with respect to operating time, are investigated. This study affords insight into the transient operating characteristics of the encapsulated enzyme reactor system. The results should be useful in understanding the start-up performance of the reactor systems and to control such reactor systems at desired operating conditions.     

On Robust Approximate Feedback Linearization: Control with Two Gain-scaling Factors

In this paper, we consider a problem of global stabilization for a class of approximately feedback linearized nonlinear systems. In order to handle more nonlinearity over the existing results, we provide a new feedback controller with two gain-scaling factors and we show that more nonlinearity can be treated by our control scheme. Moreover, we analytically show that the considered nonlinear systems can be stabilized by the proposed controller. Through comparison practical examples, we illustrate the improved features of our proposed control method.