Control of an object with parallel surfaces by a pair of finger robots without object sensing

This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile sensors, force sensors, or visual sensors. The control inputs are also quite simple and do not need to solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.     

Visualization method for customer targeting using customer map

An important issue in customer-oriented marketing area is target selection which enables the determination of potential customers. In this paper, we suggest a novel customer targeting method: customer map for a service industry. The customer map is the visualization method for customer targeting. It depicts value distribution across customer needs and customer characteristics. To develop the customer map, we integrate numerous customer data from various data sources, perform data analyses using data mining techniques, and finally visualize the information derived by the former analyses. The customer map helps decision makers to build customer-oriented strategy under the unified goal of customer targeting. It also affords to monitor and perceive real time state and the change of customer value distribution based on their information without preconception. We apply the customer map to a credit card company, build web-based prototype system for the customer map and acquire managerial implications from this study.     

Dynamics and Stability 3-Dimensional Object under of Blind Grasping of a Non-holonomic Constraints

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.     

Gap measurement by position-sensitive detectors

A system for measuring the gap in a proximity exposure tool of a plasma display panel (PDP) is developed that uses single or dual position-sensitive detectors (PSD's). The resolution of the gap distance is 0.5 mum, with a capture range of 500 mum. Signal processing is simple and fast and easy because analogous PSD's are used as the position sensors. One PSD is used to detect the position of the reference beam, which is reflected from the upper surface of the gap; the other PSD is used to detect the position of the signal beam, which is reflected from the lower surface of the gap. A charge-coupled-device sensor is also employed to monitor the reflected beams and the region of measurement. In the gap-measurement system that uses a single PSD, first the reference beam is incident upon the PSD and then the signal beam is incident upon the same PSD. Then the separation between the two beams is calculated from the position of the reference beam and from the average beam position.     

Microtrench depth and width of SiON plasma etching

Silicon oxynitride films were etched in a C₂F₆ inductively coupled plasma. In all experiments, microtrenching occurred at the feet of the profile sidewall. The microtrenching was characterized in terms of maximum depth and width. Each characteristic was examined as a function of the process parameters, including radiofrequency source power, bias power, pressure, and C₂F₆ flow rate. Apart from the etch mechanisms, relationships between microtrenching and profile angle were also identified. Profile angle variation played an important role in understanding depth variation. The width of microtrenching increased with increasing the source or bias power. In contrast, increasing the C₂F₆ flow rate decreased the width. Effect of process parameters on microtrenching at various plasma conditions was characterized by using a statistical experimental design. Smaller depths and widths were obtained at lower source and bias powers. The main effect analysis revealed that the bias power had a considerable impact on both characteristics.     

Effect of antioxidant in endothelial cells exposed to oxidized low-density lipoproteins

Antioxidants such as probucol and alpha-tocopherol have been shown to attenuate the oxidation of low-density lipoproteins (LDL) and atherosclerotic lesions in animal models of atherosclerosis. The purpose of this study is to determine the protection effect of antioxidants on endothelial cells when exposed to oxidized and native LDL. In a cell-free system, we found that probucol, alpha-tocopherol, and ascorbic acid inhibited copper-induced LDL oxidation by a dose-dependent fashion (from 1 microM to 10 mM). In porcine aortic endothelial cells, antioxidants alone did not change basal endothelin-1 (ET-1) secretion. When porcine aortic endothelial cells were exposed to LDL and oxidized-LDL, both of them stimulated ET-1 secretion dose-dependently, whereas oxidized-LDL elicited higher ET-1 secretion. However, probucol, alpha-tocopherol, and ascorbic acid did not prevent LDL or oxidized-LDL induced ET-1 secretion. Furthermore, nimodipine inhibited both of native and oxidized LDL induced ET-1 secretion. Since Ca2+ channel blocker reduced the elevation of induced ET-1 secretion, the [Ca2+]i is possibly involved for the regulation of ET-1 secretion. Our results suggest that antioxidants can only prevent the oxidation of LDL rather than oxidized and native LDL-induced ET-1 secretion in vascular endothelial cells. The increase in the [Ca2+]i of endothelial cells through the opening of voltage-dependent Ca2+ channels may be involved in the LDL-induced ET-1 release.     

Monte Carlo calculation of single-beam dose profiles used in a gamma knife treatment planning system

The accuracy of single-beam dose profiles used in the algorithm of the Gamma Knife treatment planning system (Leksell GammaPlan) is verified. EGS4 Monte Carlo calculation was employed to calculate the dose distributions of single-beams in a spherical water phantom with diameter 160 mm. The beams were directed to the center of the phantom. Collimators of 4, 8, 14, and 18 mm sizes were studied. The single-beam dose profiles provided by Elekta (Manufacturer of Leksell Gamma Knife) were excellently consistent with the results of Monte Carlo for the 4, 14, and 18 mm collimators. The maximum discrepancy was less than 3% at all radial distances. For the 8 mm collimator, the maximum discrepancy was 8% in the relative dose in the radial distance range from 4.3 mm to 5.2 mm. Excellent agreement in dose profiles along x, y, and z axes for all collimator helmets by summing over all 201 sources was observed between the cases using the default single-beam dose profiles and the calculated Monte Carlo results, except for the 8 mm collimator helmet along z axis. Such difference may however be too small to give a clinical significance.     

Benign solitary fibrous tumour of the pre-sacral space: MRI findings

Benign solitary fibrous tumour, a rare mesenchymal tumour of adults, usually arises from the pleura. Only a few cases have been reported in the retroperitoneum and, to our knowledge, there has been no report of its imaging features. We describe the MRI features of benign solitary fibrous tumour arising from the pre-sacral space.