Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.     

Risk assessment of airborne fine particles and nanoparticles

Pulmonary health effects of fine particles and nanoparticles are overviewed in this paper, mainly based on the researches conducting in our laboratory. For the hazard assessment, we exposed rats to aerosolized asbestos-substitutes or nanoparticles aerosols (nickel oxide and titanium dioxide), and examined the biological and pathological effects of the particle on lung, a major target organ for the particles, and cytokines which are related to inflammation, fibrosis and carcinogenesis in the lung. It is essential to perform comprehensive evaluation of the toxicity of poorly soluble powder samples using the precise characterization data and exposure methods, such as single instillation or aerosol inhalation.     

Fluctuations in Tracer Amounts in a Compartmental System with a Markovian Transition Process

This communication considers a method for evaluating fluctuations in the integral type output of a linear time-invariant compartmental system with a Markovian transition process. First, we derived a mathematical formula to calculate variances and covariances of integral type. outputs, as with radioisotope data, when transition rates are known. Then, an estimate for the upper limits of variances and covariances, i.e., 1/2?initial dose, when the transition rates are not given beforehand, was introduced.     

Source-Field Relationships for Cardiac Generators on the Heart Surface Based on Their Transfer Coefficients

We consider three different types of equivalent sources over a closed surface enclosing all the electrical cardiac generators: the (in situ) potential, the (in situ) normal current density, and the (macroscopic) transmembrane potential on the heart surface. The last equivalent source, which behaves as a double layer, is derived from the bidomain (bisyncytia) model for anisotropic cardiac muscle. This model predicts that if ratios of intracellular to interstitial conductivity along all directions are equal, field potential can be calculated only using surface integrals. The volume integral arising from the tissue anisotropy of cardiac muscle vanishes in that case. For each type of source under study, we give the field potential in a bounded inhomogeneous volume conductor in the form of an integral equation. We also derive the conditions which the lead field (or the transfer coefficients) must satisfy. The in situ potential and normal current are related to the cardiac sources in a complex way, but their lead fields are independent of conductivity of heart muscle, whereas the transmembrane potential is directly involved as a source term, but the lead field depends on the anisotropy of the heart muscle.     

Apatite crystal in hard tissue of conodont fossils

The present study was aimed at examining the nature of apatite crystal in the tooth apparatus of a conodont fossil using transmission electron microscopy (TEM), scanning electron microscopy (SEM), laser Raman microprobe spectrometry and electron-probe microanalysis (EPMA). The hard tissue of the condont consisted of 2 layers and the organization varied with the size of the crystal. Higher magnification showed that the crystals were observed in the lattice of (100) and the central dark lines were not present. Ca, P, and F were detected in the crystal using EPMA. Our results indicate that the apatite crystal in conodont fossils is not hydroxyapatite but fluorapatite.     

Efficient Assembly of Bridged β‐Ga2O3 Nanowires for Solar‐Blind Photodetection

An increasing number of applications using ultraviolet radiation have renewed interest in ultraviolet photodetector research. Particularly, solar‐blind photodetectors sensitive to only deep UV (<280 nm), have attracted growing attention because of their wide applicability. Among recent advances in UV detection, nanowire (NW)‐based photodetectors seem promising, however, none of the reported devices possesses the required attributes for practical solar‐blind photodetection, namely, an efficient fabrication process, a high solar light rejection ratio, a low photocurrent noise, and a fast response. Herein, the assembly of β‐Ga₂O₃ NWs into high‐performance solar‐blind photodetectors by use of an efficient bridging method is reported. The device is made in a single‐step chemical vapor deposition process and has a high 250‐to‐280‐nm rejection ratio (～2 × 10³), low photocurrent fluctuation (<3%), and a fast decay time (<<20 ms). Further, variations in the synthesis parameters of the NWs induce drastic changes in the photoresponse properties, which suggest a possibility for tuning the performance of the photodetectors. The efficient fabrication method and high performance of the bridged β‐Ga₂O₃ NW photodetectors make them highly suitable for solar‐blind photodetection.     

Characterization of plasma membrane H+-ATPase from salt-tolerant yeast Candida versatilis

Plasma membrane was isolated from the salt-tolerant yeast Candida versatilis and the ATPase in plasma membrane was characterized. The ATPase was a typical H⁺-ATPase with similar properties to the Saccharomyces cerevisiae and Zygosaccharomyces rouxii enzymes. It was reacted with antibody (IgG) raised against S. cerevisiae plasma membrane H⁺-ATPase. The ATPase activity was not changed by adding NaCl and KCl to the assay solutions, but was increased by NH, especially by ammonium sulfate. In vivo stimulation of ATPase activity was observed by the addition of NaCl into the culture medium, as observed in Z. rouxii. No in vivo activation of H⁺-ATPase by glucose metabolism was observed in C. versatilis cells and the activity was independent of the growth phase, like Z. rouxii and unlike S. cerevisiae cells.