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11.
Kiyohiko Hattori Eri Homma Toshinori Kagawa Masayuki Otani Naoki Tatebe Yasunori Owada Lin Shan Katsuhiro Temma Kiyoshi Hamaguchi 《Artificial Life and Robotics》2016,21(4):451-459
Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %. 相似文献
12.
The goal of our study is to develop a system for walking on a step using a wearable robot. Our system consists of (1) sensing of a step from the movement of the walker, (2) detection of the foot placement state related to the step, and (3) generation of gait patterns of climbing and stepping down for the step. In the generation of gait patterns for the step, toe trajectories are generated according to the height of the step to avoid collision of the swinging leg with the step. The hip trajectory is generated by an optimization technique that minimizes the sum of the joint angular jerk of the robot subject to constraints on the hip position and the velocity at toe liftoff. Each joint angle trajectory is calculated from the generated trajectories by means of inverse kinematic equations. We investigated the feasibility of the proposed sensor and control systems for two steps with different heights. 相似文献
13.
Kenichiro Nagai Masazumi Fujii Shinobu Kitazume 《International journal of molecular sciences》2022,23(8)
Gliomas are among the most common tumors of the central nervous system and include highly malignant subtypes, such as glioblastoma, which are associated with poor prognosis. Effective treatments are therefore urgently needed. Despite the recent advances in neuroimaging technologies, differentiating gliomas from other brain diseases such as multiple sclerosis remains challenging in some patients, and often requires invasive brain biopsy. Protein tyrosine phosphatase receptor type Z (PTPRZ) is a heavily glycosylated membrane protein that is highly expressed in the central nervous system. Several reports analyzing mouse tumor models suggest that PTPRZ may have potential as a therapeutic target for gliomas. A soluble cleaved form of PTPRZ (sPTPRZ) in the cerebrospinal fluid is markedly upregulated in glioma patients, making it another promising diagnostic biomarker. Intriguingly, PTPRZ is also involved in the process of remyelination in multiple sclerosis. Indeed, lowered PTPRZ glycosylation by deletion of the glycosyltransferase gene leads to reduced astrogliosis and enhanced remyelination in mouse models of demyelination. Here, we review the expression, molecular structure, and biological roles of PTPRZ. We also discuss glioma and demyelinating diseases, as well as the pathological role of PTPRZ and its application as a diagnostic marker and therapeutic target. 相似文献
14.
Shuqi Guo Yutaka Kagawa Toshiyuki Nishimura Hidehiko Tanaka 《Journal of the American Ceramic Society》2007,90(7):2255-2258
The thermal and electrical properties of MoSi2 and/or SiC-containing ZrB2 -based composites and the effects of MoSi2 and SiC contents were examined in hot-pressed ZrB2 –MoSi2 –SiC composites. The thermal conductivity and electrical conductivity of the ZrB2 –MoSi2 –SiC composites were measured at room temperature by a nanoflash technique and a current–voltage method, respectively. The results indicate that the thermal and electrical conductivities of ZrB2 –MoSi2 –SiC composites are dependent on the amount of MoSi2 and SiC. The thermal conductivities observed for all of the compositions were more than 75 W·(m·K)−1 . A maximum conductivity of 97.55 W·(m·K)−1 was measured for the 20 vol% MoSi2 -30 vol% SiC-containing ZrB2 composite. On the other hand, the electrical conductivities observed for all of the compositions were in the range from 4.07 × 10–8.11 × 10 Ω−1 ·cm−1 . 相似文献
15.
Masazumi OKIDO Ryoichi ICHINO Seong-Jong KIM Seok-Ki JANG 《中国有色金属学会会刊》2009,19(4):892-897
The chemical conversion coating was formed on Mg alloy for low cost and harmlessness in environment by using the colloidal silica as the main component. The film formed at 298 K was thick, which was thought to be the combination of Si and O. In salt spray test, the ratio of black rust on the specimen that did not conducted chemical conversion treatment was five times or more than those of the chemical conversion treated specimen. The film of chemical conversion coating produced by alkali treatment process was thinner than the specimen produced in basic chemical conversion treatment solution. 相似文献
16.
Hitoshi WADA Yasuhiro NISHISAKA Ryoichi ICHINO Masazumi OKIDO 《中国有色金属学会会刊》2009,19(4):791-794
The relatively uniform bismuth-copper film was electrodeposited between −15 and −20 mV in the sulfate electrolyte containing 4 mmol/L bismuth ion and 2 mmol/L copper ion. Only copper was electrodeposited at −5 mV. The dendritic bismuth-copper film was electrodeposited under −20 mV. The cathodic current became constant between −20 and −400 mV. Therefore, bismuth-copper electrodeposition changes from charge transfer controlling to diffusion controlling at −20 mV. On the other hand, the uniform bismuth-copper film was electrodeposited between −5 and −35 mV in the methanesulfonate electrolyte containing 4 mmol/L bismuth ion and 2 mmol/L copper ion. The dendritic bismuth-copper film was electrodeposited under −35 mV. The potential region for good electrodepositon in methanesulfonate electrolyte is wider than that in sulfate electrolyte. Therefore, it is easy to control electrodeposition conditions by using methanesulfonate electrolyte. 相似文献
17.
Kimiyoshi Naito Yutaka Kagawa Seishi Utsuno Tamaki Naganuma Kanshi Kurihara 《Composites Science and Technology》2009,69(11-12):2027-2029
Electromagnetic wave transmittances of plain woven fabric glass fiber reinforced epoxy matrix composite (PW-GFRP) and eight-harness-stain fabric glass fiber reinforced polyimide matrix composite (8H-GFRP) with 1.0 mm thickness were measured in a terahertz (THz) frequency range. The transmittance values for both composites are nearly zero at a frequency of 1.0 THz. The real parts of the complex dielectric constant, ε′(ω) are 4.45 and 3.87 for PW-GFRP and 8H-GFRP, respectively, in the frequency range from 0.2 to 1.0 THz, and they are almost frequency independent. Conversely, the imaginary parts of the dielectric constant, ε′′(ω) for both composites linearly increases with increase of the frequency from 0.13 to 0.37 for PW-GFRP, and from 0.12 to 0.33 for 8H-GFRP. 相似文献
18.
A light transmitting Optomechanical Composite was fabricated by incorporating SiC (SCS-6) fibers into optically transparent MgAl2O4 ceramics. The fibers were aligned unidirectionally in the matrix with a spacing of 1 to 4 mm to allow light transmittance between the fibers: resulting fiber volume content was from 0.75 to 0.19 vol%. The total and in-line light transmittance of the matrix and the composite was measured in the visible/near-IR wavelength region. The light transmittance of the composite was found to be decreasing with increasing fiber volume fraction, however, even the composite with the highest fiber volume fraction has a light transmittance of 25–50% in the visible wavelength region. Although the optical transparency of the matrix becomes slightly lower by the incorporation of the opaque fibers, its catastrophic failure is prevented by the bridging effect of the intact fibers, introducing the fail-safe nature to the brittle ceramic material. To obtain this fail-safe mechanism, the minimum fiber volume fraction was 0.37 vol% in the present material system. 相似文献
19.
In this paper we present a general-purpose discrete correlation processor (DCP) expected to be the building core block of a digital optical computing system. The DCP-1 is embodied by optoelectronic devices such as a VCSEL and a complementary metal-oxide silicon photodetector. The application targets of the DCP-1 are optical interconnection and various types of digital optical computing. It is expected that digital optical computing techniques coupled with the optoelectronic technology will provide large capability and flexibility in information processing. Introduction of a processing scheme of optical array logic enlarges the applicable field of the DCP-1 as well as its processing capability. With the experimental DCP-1 a bit error rate smaller than 10(-9) was obtained for A . B? operation under a 500-kHz clock rate. 相似文献
20.
Yukio Kagawa Tadakuni Murai Osamu Matsumoto 《International journal for numerical methods in engineering》1983,19(3):315-329
Two kinds of techniques for solving a shape determination problem are proposed. The determination of the interface boundary between two domains governed by Poisson and Laplace equations under the compatible and constraint condition is considered. Influence coefficient and inverse variational approaches are examined by using the iterative finite element procedure. A two-dimensional model of a junction-type field effect transistor is a test example. The determination of its interface boundary and the prediction of the potential distribution and static characteristic are demonstrated. 相似文献