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排序方式: 共有196条查询结果,搜索用时 15 毫秒
1.
Yurak Son Takuya Kamano Takashi Yasuno Takayuki Suzuki Hironobu Harada 《Electrical Engineering in Japan》2006,155(1):35-43
This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225 相似文献
2.
To confirm the reliability of the theory of phase equibria of multicomponent polymer 1/multicomponent polymer 2 systems (i.e. quasi-binary systems) and the method of computer experiment based on this theory (Brit. Polym. J., 23 (1990)285; 23 (1990)299; Polym. Int., 29 (1992)219), could point curves (CPC), two-phase volume ratios ( R ) and critical solution points (CSP) have been determined experimentally for the quasi-binary mixtures of poly(ethylene oxide) (M¯w = 647, M¯w/M¯n = 1.15; M¯w and M¯n, the weight-average and numberaverage molecular weights, respectively) and poly(propylene oxide) (M¯w = 2028, M¯w/M¯n = 1.08; and Mw = 2987, Mw/Mn = 1.13). The hydroxyl end groups of both polymers were methoxylated in advance by the Cooper & Booth method (Polymer, 18 (1977)164). The thermodynamic interaction parameter between both polymers, χ12, and the concentration dependence parameters for the above quasi-binary systems were determined by the method proposed in a previous paper (Brit. Polym. J., 23 (1990)299). CPC, R and CSP values calculated on the basis of the theory are in good agreement with the values determined experimentally. 相似文献
3.
Mio Yamaguchi Kiyoshi Takagi Koki Narita Yasuhiro Miki Yoshiaki Onodera Minoru Miyashita Hironobu Sasano Takashi Suzuki 《International journal of molecular sciences》2021,22(4)
Chemokines secreted from stromal cells have important roles for interactions with carcinoma cells and regulating tumor progression. C-C motif chemokine ligand (CCL) 5 is expressed in various types of stromal cells and associated with tumor progression, interacting with C-C chemokine receptor (CCR) 1, 3 and 5 expressed in tumor cells. However, the expression on CCL5 and its receptors have so far not been well-examined in human breast carcinoma tissues. We therefore immunolocalized CCL5, as well as CCR1, 3 and 5, in 111 human breast carcinoma tissues and correlated them with clinicopathological characteristics. Stromal CCL5 immunoreactivity was significantly correlated with the aggressive phenotype of breast carcinomas. Importantly, this tendency was observed especially in the CCR3-positive group. Furthermore, the risk of recurrence was significantly higher in the patients with breast carcinomas positive for CCL5 and CCR3 but negative for CCR1 and CCR5, as compared with other patients. In summary, the CCL5-CCR3 axis might contribute to a worse prognosis in breast cancer patients, and these findings will contribute to a better understanding of the significance of the CCL5/CCRs axis in breast carcinoma microenvironment. 相似文献
4.
In order to obtain more detailed information on the mechanism of the polymerization of N-vinyl-carbazole (N-VC) in the presence of carbon black, a comparison of the rates of conversion under various conditions was made and the following results were obtained. The phenolic hydroxyl groups on the surface of carbon black were found to have an ability to initiate the polymerization, and an increase in dielectric constant of the solvent increased the rate of polymerization. Using the mixture of N-VC and comonomers such as styrene or methyl methacrylate, we found that styrene gives a copolymer with N-VC, while methyl methacrylate gives no copolymer during the early stage of polymerization. The phenomena observed here indicate that the nature of polymerization of N-VC initiated by carbon black is cationic. 相似文献
5.
Sun-Chan Jeong Ichiro Katayama Hirokane Kawakami Yutaka Watanabe Hironobu Ishiyama Nobuaki Imai Yoshikazu Hirayama Hiroari Miyatake Masao Sataka Satoru Okayasu Hiroyuki Sugai Shin-Ichi Ichikawa Katsuhisa Nishio Shinichi Mitsuoka Takamitsu Nakanoya Masahito Yahagi Takanori Hashimoto Kazunori Takada Mamoru Watanabe Tomoko Ishikawa Akihiro Iwase 《Journal of Phase Equilibria and Diffusion》2005,26(5):472-476
For the effective use of short-lived radioactive beams, soon to be available at the Tokai Radioactive Ion Accelerator Complex, the authors have developed a radiotracer method for diffusion studies in solids. The experimental test was performed by the measurement of the diffusion coefficients of Li in a sample of the compound βLiAl using an α-emitting radiotracer of 8Li (T1/2=0.84 s). It was found that the time-dependent yields of the α particles from the diffusing 8Li that was initially implanted in the sample could be used as a measure of the diffusivity of the tracer in a nondestructive way. The method was applied to measure the self-diffusion coefficients of Li in βLiGa, and for investigating how the Li diffusion in the Li ionic conductors is affected by the concentration of atomic defects (i.e., the existence of the atomic vacancies of Li and the defects in Ga sites that are replaced by Li). 相似文献
6.
Yasuhiro Kobayashi Masaaki Ohkita Michio Inoue 《Mathematics and computers in simulation》1976,18(2):115-122
For an analog simulating system, an approximating system is proposed. Its mathematical form is expressed by an algebraic equation: with four parameters given by real numbers. Their values can be determined so as to satisfy a best fit in a Chebyshev sense. Then, the accuracy is of the same order with that obtained by any kind of ordinary power series up to terms o f the third order. It is noticeable that a given function can be accurately approximated by this equation without destroying its uniform continuity.As its electronic system, it is possible to utilize forward current-voltage characteristics o f p-n diodes near their origins. Different functions can be produced by adjusting an amount o f ordinary resistances connected to diodes in series. 相似文献
7.
叙述了太阳对地球的放射及能源热收支等关系,同时还对世界各国在化石燃料的开发、配置、使用、价格等关系及人类 在现代建筑中对太阳放射的利用等方面作了一些调查,阐述了它们之间的一些关系。论述了人类在开发太阳能技术方面的重要 性和必要性。 相似文献
8.
Gold nanoparticles (AuNPs) of about 5 nm in diameter were biosynthesized at room temperature (300 K). The PVA/2.5 wt% KH2PO4 or KDP composite film and PVA/2.5 wt% KDP/AuNPs nanocomposite films with different concentrations of AuNPs were prepared. Interestingly, addition of 0.05 wt% of AuNPs to the PVA/2.5 wt% KDP percolative composite film destroys percolative behavior of this composite film. Furthermore, the PVA/2.5 wt% KDP/0.05 wt% AuNPs nanocomposite film exhibited high room temperature dielectric permittivity (ε′ ∼ 590 at 1 kHz). The behavior of AC conductivity (σac) of the nanocomposite films indicated correlated barrier hopping type of conduction mechanism. The Cole–Davidson dielectric response becomes evident as the interfacial polarization process acquires a more symmetric form, tending to Debye relaxation. High value of ε′ promises direct application in capacitors. Moreover, the novel feature of destroying the percolative behavior by AuNPs may be applied even in other systems. 相似文献
9.
Naoki Motomura Yuto Yamazaki Daiki Koga Shogo Harashima Xin Gao Yuta Tezuka Kei Omata Yoshikiyo Ono Ryo Morimoto Fumitoshi Satoh Yasuhiro Nakamura Go Eun Kwon Man Ho Choi Akihiro Ito Hironobu Sasano 《International journal of molecular sciences》2022,23(4)
Cortisol-producing adenoma (CPA) is composed of clear and compact cells. Clear cells are lipid abundant, and compact ones lipid poor but associated with higher production of steroid hormones. PRKACA mutation (PRKACA mt) in CPA patients was reported to be associated with more pronounced clinical manifestation of Cushing’s syndrome. In this study, we examined the association of histological features and genotypes with cholesterol uptake receptors and synthetic enzymes in 40 CPA cases, and with the quantitative results obtained by gas chromatography-mass spectrometry (GC-MS) analysis in 33 cases to explore their biological and clinical significance. Both cholesterol uptake receptors and synthetic enzymes were more abundant in compact cells. GC-MS analysis demonstrated that the percentage of compact cells was inversely correlated with the concentrations of cholesterol and cholesterol esters, and positively with the activity of cholesterol biosynthesis from cholesterol esters. In addition, hormone-sensitive lipase (HSL), which catalyzes cholesterol biosynthesis from cholesterol esters, tended to be more abundant in compact cells of PRKACA mt CPAs. These results demonstrated that both cholesterol uptake and biosynthesis were more pronounced in compact cells in CPA. In addition, more pronounced HSL expression in compact cells of PRKACA mt CPA could contribute to their more pronounced clinical manifestation. 相似文献
10.