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91.
Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propose a natural behavior generation method for humanoid robots that is a hybrid generation between voluntary and involuntary motions. The key idea of our method is to control robots with a hybrid controller that combines the functions of a communication behavior controller and body balancing controllers. We also develop a wheeled inverted pendulum type of humanoid robot, named “Robovie-III”, in order to generate involuntary motions like oscillation. By applying our method to this robot and conducting preliminary experiments, we verify its validity. Experimental results show that the robot generates both voluntary and involuntary motions. 相似文献
92.
Zhang Ming CHEN Haiyan Chen Xiaosong Dai Shaojun Inoue Shinich OKAMOTO Hiroshi 《中国稀土学报(英文版)》2004,22(Z3)
Acrylic acid rare earth complex was prepared. Its chemical composition was determined by chemical and elemental analysis, and its structure as well as properties was characterized using IR, Fluorescence and UV spectrum, and its solubility was also investigated. Meanwhile a kind of elastic functional polymer with rare earth units in the side chains was produced. It is confirmed by IR spectrum that the Si-H bonds really react with acrylic acid rare earth. 相似文献
93.
Hiroshi Fujita 《Microscopy research and technique》1986,3(3):243-304
High voltage electron microscopy has shown numerous advantages for the study of natural science, including biology, but it is especially useful in materials science. The most important advantage for materials science is in-situ experiments on detailed processes of the same phenomena that occur in bulk materials. For such in-situ experiments, the specimens should be thicker than a few microns to observe the behavior of lattice effect. The maximum observable thickness of the specimens and other advantages markedly increase with increasing accelerating voltage, and since 1965, two 3 MV instruments have been installed. The present paper is mainly concerned with these 3 MV electron microscopes and their applications to new research fields. 相似文献
94.
95.
Atsushi Kubota Shogo Tatsumi Toshihiko Tanaka Masahiro Goshima Shin-Ichiro Mori Hiroshi Nakashima Shinji Tomita 《International journal of parallel programming》1999,27(2):97-109
Optimizing inter-processor (PE) communication is crucial for parallelizing compilers for message-passing parallel machines to achieve high performance. In this paper, we propose a technique to eliminate redundant inter-PE messages. This technique utilizes data-flow analysis to find a definition point that corresponds to a use point where the definition and the use occur in different PEs. If several read accesses occurred in the same PE use the data defined at the same definition point in another PE, redundant inter-PE messages are eliminated as follows: only one inter-PE communication is performed for the earliest read access and the previously received data are used for the following read. In order to guarantee the consistency of the data, a valid flag and a sent flag are provided for each chunk of received data. The control of these flags is equivalent to the coherence control by the self invalidation on a compiler aided cache coherence scheme. 相似文献
96.
Franjo Banovic Sandrin Schulze Mobarak Abu Mraheil Torsten Hain Trinad Chakraborty Vronique Orian-Rousseau Selina Moroniak Christel Weiss Hiroshi Ishikawa Horst Schroten Rüdiger Adam Christian Schwerk 《International journal of molecular sciences》2022,23(21)
The human central nervous system (CNS) is separated from the blood by distinct cellular barriers, including the blood–brain barrier (BBB) and the blood–cerebrospinal fluid (CFS) barrier (BCSFB). Whereas at the center of the BBB are the endothelial cells of the brain capillaries, the BCSFB is formed by the epithelium of the choroid plexus. Invasion of cells of either the BBB or the BCSFB is a potential first step during CNS entry by the Gram-positive bacterium Listeria monocytogenes (Lm). Lm possesses several virulence factors mediating host cell entry, such as the internalin protein family—including internalin (InlA), which binds E-cadherin (Ecad) on the surface of target cells, and internalin B (InlB)—interacting with the host cell receptor tyrosine kinase Met. A further family member is internalin (InlF), which targets the intermediate filament protein vimentin. Whereas InlF has been shown to play a role during brain invasion at the BBB, its function during infection at the BCSFB is not known. We use human brain microvascular endothelial cells (HBMEC) and human choroid plexus epithelial papilloma (HIBCPP) cells to investigate the roles of InlF and vimentin during CNS invasion by Lm. Whereas HBMEC present intracellular and surface vimentin (besides Met), HIBCPP cells do not express vimentin (except Met and Ecad). Treatment with the surface vimentin modulator withaferin A (WitA) inhibited invasion of Lm into HBMEC, but not HIBCPP cells. Invasion of Lm into HBMEC and HIBCPP cells is, however, independent of InlF, since a deletion mutant of Lm lacking InlF did not display reduced invasion rates. 相似文献
97.
Erika Inoue Shiyo Minatozaki Yui Katsuta Saori Nonaka Hiroshi Nakanishi 《International journal of molecular sciences》2022,23(23)
Recently, the effects of antibacterial peptides are suggested to have therapeutic potential in Alzheimer’s disease. Furthermore, systemic treatment of Porphyromonas gingivalis (Pg) lipopolysaccharide (LPS) induced Alzheimer’s disease-like neuropathological changes in middle-aged mice. Then, we examined whether human β-defensins (hBDs), antimicrobial peptides produced by the oral mucosa and salivary glands, can suppress Pg LPS-induced oxidative and inflammatory responses by microglia. hBD3 (1 μM) significantly suppressed Pg LPS-induced production of nitric oxide and interleukin-6 (IL-6) by MG6 cells, a mouse microglial cell line. hBD3 (1 μM) also significantly inhibited Pg LPS-induced expression of IL-6 by HMC3 cells, a human microglial cell line. In contrast, neither hBD1, hBD2 nor hBD4 failed to inhibit their productions. Furthermore, hBD3 suppressed Pg LPS-induced p65 nuclear translocation through the IκBα degradation. Pg LPS-induced expression of IL-6 was significantly suppressed by E64d, a cysteine protease inhibitor, and CA-074Me, a known specific inhibitor for cathepsin B, but not by pepstatin A, an aspartic protease inhibitor. Interestingly, hBD3 significantly inhibited enzymatic activities of recombinant human cathepsins B and L, lysosomal cysteine proteases, and their intracellular activities in MG6 cells. Therefore, hBD3 suppressed oxidative and inflammatory responses of microglia through the inhibition of cathepsins B and L, which enzymatic activities are necessary for the NF-κB activation. 相似文献
98.
Tatsunari Ohkubo Takaaki Shiina Kayoko Kawaguchi Daisuke Sasaki Rena Inamasu Yue Yang Zhuoqi Li Keizaburo Taninaka Masaki Sakaguchi Shoko Fujimura Hiroshi Sekiguchi Masahiro Kuramochi Tatsuya Arai Sakae Tsuda Yuji C. Sasaki Kazuhiro Mio 《International journal of molecular sciences》2022,23(23)
Membrane proteins play important roles in biological functions, with accompanying allosteric structure changes. Understanding intramolecular dynamics helps elucidate catalytic mechanisms and develop new drugs. In contrast to the various technologies for structural analysis, methods for analyzing intramolecular dynamics are limited. Single-molecule measurements using optical microscopy have been widely used for kinetic analysis. Recently, improvements in detectors and image analysis technology have made it possible to use single-molecule determination methods using X-rays and electron beams, such as diffracted X-ray tracking (DXT), X-ray free electron laser (XFEL) imaging, and cryo-electron microscopy (cryo-EM). High-speed atomic force microscopy (HS-AFM) is a scanning probe microscope that can capture the structural dynamics of biomolecules in real time at the single-molecule level. Time-resolved techniques also facilitate an understanding of real-time intramolecular processes during chemical reactions. In this review, recent advances in membrane protein dynamics visualization techniques were presented. 相似文献
99.
100.
Masanori Ono Natsumi Toyoda Kyosuke Kagami Takashi Hosono Takeo Matsumoto Shin-ichi Horike Rena Yamazaki Mitsuhiro Nakamura Yasunari Mizumoto Tomoko Fujiwara Hitoshi Ando Hiroshi Fujiwara Takiko Daikoku 《International journal of molecular sciences》2022,23(14)
Recently, it was demonstrated that the expression of BMAL1 was decreased in the endometrium of women suffering from recurrent spontaneous abortion. To investigate the pathological roles of uterine clock genes during pregnancy, we produced conditional deletion of uterine Bmal1 (cKO) mice and found that cKO mice could receive embryo implantation but not sustain pregnancy. Gene ontology analysis of microarray suggested that uterine NK (uNK) cell function was suppressed in cKO mice. Histological examination revealed the poor formation of maternal vascular spaces in the placenta. In contrast to WT mice, uNK cells in the spongiotrophoblast layer, where maternal uNK cells are directly in contact with fetal trophoblast, hardly expressed an immunosuppressive NK marker, CD161, in cKO mice. By progesterone supplementation, pregnancy could be sustained until the end of pregnancy in some cKO mice. Although this treatment did not improve the structural abnormalities of the placenta, it recruited CD161-positive NK cells into the spongiotrophoblast layer in cKO mice. These findings indicate that the uterine clock system may be critical for pregnancy maintenance after embryo implantation. 相似文献