遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

Passivation effects of deuterium exposure on boron-doped CVD homoepitaxial diamond

The deuterium (hydrogen) passivation effect on acceptors in boron-doped CVD homoepitaxial diamond was studied by electrical (Hall-effect) and secondary ion mass spectroscopy (SIMS) measurements. Deuterium was incorporated into the samples using microwave (MW) deuterium plasma at 673 K for 2–24 h. We observed the progress of acceptor passivation with p-type conduction, which finally resulted in a highly resistive state.     

Three-dimensional display of the bronchi using helical CT

The purpose of this study was to evaluate the clinical usefulness of three-dimensional (3D) images of the bronchi obtained using helical CT. Thirteen patients with lung cancer, one with tracheal diverticulum, and one with bronchial amyloidosis were examined. The CT scanner employed was the Toshiba Xforce. The helical CT scan cycle consisted of 20 continuous rotations, each requiring 1.5 sec, for a total scanning time of 30 sec. Scans were obtained using a 5-mm X-ray beam width, a 5-mm/1.5 sec couchtop sliding speed, and a 2-mm reconstruction interval. 3D images were reconstructed using a CEMAX VIPstation. The optimal lower and upper threshold CT values for 3D images of the bronchi were -650 and -100 HU, respectively, and 3D images clearly depicted endobronchial lesions. Cartilage crescents were also demonstrated, but longitudinal and circular mucosal folds could not be visualized. In conclusion, 3D images of the bronchi acquired using helical CT were useful in evaluating endobronchial lesions.     

Stereoscopic synthesized brain-surface imaging with MR angiography for localization of a peripheral mycotic aneurysm: case report

A patient with subacute bacterial endocarditis and a peripheral mycotic aneurysm is presented. We used a combined multi-slice surface anatomy scanning (SAS) and contrast-enhanced MR angiography image to determine the exact location of the small lesion by applying a skin marker on the scalp and visualizing the relationship of the marker to the brain surface structures and to the lesion. This technique was useful for the removal of a small peripheral aneurysm using only a limited craniotomy.     

Measurement of human red blood cell deformability using a single micropore on a thin Si3N4 film

The filtration method for the evaluation of the RBC deformability has been further refined to simulate the deformations encountered in the recticuloendothelial system (in particular the spleen), a recognized site of aged and sickled cells removal. The core of the developed measuring system is a very thin (0.4 micron thick) filter that consists of single micropore (diameters down to 1 micron) on a Si3N4 film which has been constructed using silicon microfabrication techniques. Individual RBC's deformability is quantified measuring the cell pore passage time. From one blood sample 200 passage times are analyzed by a computer, displaying mean and median values as deformability indexes, and class and cumulative histograms for studying the passage times distribution. In this paper the effectiveness of the developed system as a routine clinical evaluation tool is demonstrated by studying several factors that are known to affect the RBC deformability, such as temperature, addition of diamide and glutaraldehyde, and blood storage conditions. In addition, it is experimentally demonstrated that the human RBC can traverse a pore with a diameter as small as 1 micron when the pore length is very short, thus broadening the experimental conditions under which the RBC deformability (fluidity) can be studied.     

A flexible random allocation program for multi-institutional clinical trials

This paper describes a flexible random allocation program that assigns treatments to patients according to their prognostic factors in multi-institutional clinical trials. The source lists are available in the appendix of this paper. This program is based on Pocock and Simon's minimization method and Zelen's method for institution balancing. The numbers of institutions, treatments, and prognostic factors can be set arbitrarily. The maximum number of institutions, treatments, or prognostic factors that can be accommodated by the program is limited only by the size of the main memory. For example, an IBM-PC with a 640KB main memory can run a program of 1500 institutions, 4 treatments and 20 prognostic factors.     

EPR study of hydrogen-related defects in boron-doped p-type CVD homoepitaxial diamond films

Boron-doped p-type single crystalline chemical vapor deposition (CVD) homoepitaxial diamond films were investigated by electron paramagnetic resonance (EPR). Carbon dangling bond defects, which were accompanied by a nearby hydrogen atom, were observed in boron-doped p-type CVD diamond films on a IIa substrate similar to those observed in undoped diamond. This result suggested that the energy level position of the defects is located below the Fermi energy of boron-doped diamond, at around 0.3 eV above the valence-band top. The reason why the Fermi energy could be changed by the incorporation of boron atoms at low density (10¹⁶–10¹⁷/cm³) in the film in spite of the existence of the large defect density of EPR centers (10¹⁸/cm³) is thought to be that the singly occupied electron states of defects are located near the band edge. As for the thermal annealing effect of the defects, it was revealed that the concentration of the defects and the mobility of the p-type film did not change after annealing up to 1200 °C which is much higher than the temperature of boron–hydrogen pair dissociation.     

Balanced corpus of contemporary written Japanese

The balanced corpus of contemporary written Japanese (BCCWJ) is Japan’s first 100 million words balanced corpus. It consists of three subcorpora (publication subcorpus, library subcorpus, and special-purpose subcorpus) and covers a wide range of text registers including books in general, magazines, newspapers, governmental white papers, best-selling books, an internet bulletin-board, a blog, school textbooks, minutes of the national diet, publicity newsletters of local governments, laws, and poetry verses. A random sampling technique is utilized whenever possible in order to maximize the representativeness of the corpus. The corpus is annotated in terms of dual POS analysis, document structure, and bibliographical information. The BCCWJ is currently accessible in three different ways including Chunagon a web-based interface to the dual POS analysis data. Lastly, results of some pilot evaluation of the corpus with respect to the textual diversity are reported. The analyses include POS distribution, word-class distribution, entropy of orthography, sentence length, and variation of the adjective predicate. High textual diversity is observed in all these analyses.