Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

New color TV cameras for ultraviolet, near infrared and visiblelight

Two kinds of TV cameras have been developed that are capable of showing the wavelengths of ultraviolet, infrared, and visible light by means of a false color method. One is sensitive to wavelengths from 250 to 650 nm (ultraviolet to yellow). It can simulate the color vision of the honey bee and other insects, reproducing the nectar guide of a flower or displaying the sex of a cabbage white moth, which is indistinguishable to the naked eye. The other is sensitive to a wider wavelength of 250 to 1,050 nm (ultraviolet to near infrared). According to the filter selected, it obtains not only visual images of invisible light information but also pictures same as those from an ordinary color camera. These TV cameras can be applied in many fields, including science, art, medicine, and industry     

Integrated-optic dispersion slope equalizer for N/spl times/ several tens of Gb/s WDM transmission

We report a dispersion slope equalizer on a planar lightwave circuit for wavelength division multiplexing (WDM) transmission. This device consists of an array of lattice-formed equalizers with different compensation values fabricated on one wafer and arrayed-waveguide gratings for wavelength multi/demultiplexing. We describe its configuration, operational principle, parameter design, fabrication, and measured characteristics in detail. N/spl times/20 and N/spl times/40 Gb/s slope equalizers were fabricated and their characteristics agreed well with designed values. We also report a reduction in the bias electrical power needed for thermooptic phase shifters in the equalizer array that we realized by employing a phase trimming technique normally used for optical switches.     

Contribution of IL-1 beta to the enhancement of Campylobacter rectus lipopolysaccharide-stimulated PGE2 production in old gingival fibroblasts in vitro

Campylobacter rectus is associated with adult periodontitis. We previously reported that C. rectus lipopolysaccharide (LPS)-stimulated prostaglandin E2 (PGE2) production in old cells of human gingival fibroblasts (HGFs) is higher than that in young cells. The present study examined whether an enhancement of C. rectus LPS-stimulated interleukin (IL)-1 beta production in old HGFs contributed to the increased production of PGE2. LPS was prepared from C. rectus ATCC33238. HGFs were established from healthy gingiva in three patients, aged 10-12 years. Cellular aging in culture was determined with increasing doubling. The cultured cells were treated with LPS (0.01-10 micrograms/ml), and the amount of IL-1 beta in the medium was measured after a 24 h incubation. The LPS-stimulated IL-1 beta production in each old cell (corresponding to 57-67% of complete life-span) was increased (1.6-2.6 times) compared to that in the young cells (corresponding to 17-20% of the life-span). The IL-1 beta mRNA synthesis in the presence of LPS in the old cells was higher than that in the young cells. The enhancement of LPS-stimulated PGE2 production was inhibited by anti-IL-1 beta antibody and by IL-1 receptor antagonist. These findings suggest that the greater ability of old cells to produce PGE2 in response to C. rectus LPS is due to their greater level of IL-1 beta.     

Eight-channel flat spectral response arrayed-waveguide multiplexer with asymmetrical Mach-Zehnder filters

An eight-channel flat spectral response arrayed-waveguide grating (AWG) multiplexer with asymmetrical Mach-Zehnder filters has been fabricated on the planar lightwave circuit (PLC). The monotonic spectral loss characteristics of AWG have been canceled by the opposite spectral response in the asymmetric MZ filter. The 1.5 dB bandwidth of 141 GHz and 3 dB bandwidth of 159 GHz are obtained for the 200 GHz channel spacing. The 1.5 dB bandwidth becomes 1.8 times wider than that of the conventional AWG. Crosstalks to neighboring and all other channels are less than -24 dB and the on-chip insertion losses range from 7.0 to 7.4 dB, respectively.     

HLA-A26 subtype A pockets accommodate acidic N-termini of ligands

BACKGROUND: Fiberoptic flexible sigmoidoscopy (FFS) is routinely requested preoperatively as part of evaluation of pelvic masses to exclude colonic involvement by the tumor or concurrent colonic neoplasm. The aim of our study was to evaluate the utility of preoperative FFS in patients with suspected gynecologic malignancy. METHODS: FFS, performed using a 60 cm sigmoidoscope, evaluated (1) presence of bowel involvement by the tumor, (2) extrinsic compression by the tumor, and (3) presence of colonic neoplasms. FFS findings were correlated with surgical findings. RESULTS: A total of 107 women underwent preoperative FFS and subsequent surgery. Eleven patients (11%) had lower gastrointestinal symptoms. At surgery, 63% of pelvic tumors were malignant and 37% were benign. The most common abnormality at FFS was colonic polyps in 23 patients (21%). Colonic adenomas were found in 11 patients (10%). Extrinsic compression by the tumor without mucosal abnormalities was seen in 15 patients (14%). The most common intraoperative finding was tumor adhering to the bowel in 18 patients requiring dissection, but only 1 patient required bowel resection. Eight of these 18 patients had preoperative lower gastrointestinal symptoms. All 15 patients with extrinsic compression at FFS had tumor adhering to the bowel. CONCLUSIONS: Pelvic masses cause extrinsic compression at FFS in 14% of patients. This is suggestive of tumor adherent to the bowel at surgery. However, bowel resection is rarely required because of tumor involvement. Most patients with bowel adherence by tumor have lower gastrointestinal symptoms. Colonic adenomas are found in one tenth of patients, mostly in patients older than 50 years of age. Preoperative FFS does not change the surgical management of pelvic tumors. Screening FFS is indicated in all patients with pelvic tumors over age 50, as in persons with average risk, but is otherwise unnecessary in evaluation of pelvic masses.     

Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system

This paper proposes a method for visualizing the stiffness of a soft object in a palpation-support information system by the teleoperation of a robot hand. It is important that a palpation system display a body’s shape and stiffness. In our method, the stiffness of the contact area between the soft object and the robot finger is estimated by a recursive least-squares method with forgetting factor that uses an impedance dynamics model. With the estimated stiffness and direction of contact force, we calculate the scalar parameter for visualization of stiffness. Moreover, we propose a safety control method for the palpation system, which is part of a tele-control method based on will-consensus building. The system configuration, estimated algorithm, and experimental results are presented.     

Shrinkable Nanotubes for Duplex Formation of Short Nucleotides

Molecular monolayer nanotubes produced by self‐assembly of an amphiphile modified with a 2‐nitrobenzyl group as a photoresponsive unit are able to encapsulate dinucleotides via electrostatic attraction. Upon photoirradiation, the 18 nm inner diameter of the nanotubes shrinks to less than 2 nm as a result of photochemical cleavage of the 2‐nitrobenzyl group in the amphiphile. This shrinking of the nanotube channels leads to a propulsive release of the dinucleotides into the bulk solution and simultaneously accelerates formation of the dinucleotide duplexes. The larger nanotube channels without photoirradiation merely release each dinucleotide into the bulk solution, indicating that the squeezing via transportation in the narrow nanotube channels is necessary for duplex formation. In addition to the size effect, water with a lower polarity confined within the narrow nanotube channels helps to stabilize the energetically unfavorable hydrogen‐bonded base pair between the dinucleotides. This system should enable researchers to perform biological reactions that occur only in specific environments and conditions in living organisms.     

Seismic proof test of a reinforced concrete containment vessel (RCCV): Part 2: Results of shaking table tests

A 1/8-scale model was constructed of a reinforced concrete containment vessel (RCCV) used in the latest advanced boiling water reactors (ABWR). Shaking table tests were conducted on it with input motions corresponding to or exceeding a design earthquake assumed for a real Nuclear Power Plant.The objectives of the tests were to verify the structural integrity and the leak-proof functional soundness of the RCCV subjected to design earthquakes, and to determine the ultimate strength and seismic margin by an excitation that led to the model's collapse. The model, the test sequence and the pressure and leak test results were addressed in Part 1. The shaking table test method, the input motions and the test results, including the transition of the model's stiffness, natural frequencies and damping factors and the effects of vertical input motions and internal pressure on the model's characteristics and behavior, the load–deformation, the ultimate strength, the failure mode of the reinforced concrete portion and the liner plate are described here. The seismic safety margin that was evaluated by the energy input during the failure test to a design basis earthquake will be described in Part 3. The analytical results of simulation using the multi-lumped mass model will be described in Part 4.     

Adaptive Control For Robotic Manipulators Executing Multilateral Constrained Task

This paper presents a model‐based adaptive control in task coordinates for robotic manipulators executing multilateral constrained tasks The controller works based on the concept of orthogonality between force and motion in the subspaces derived from the constraints. The control gains are independently adjustable in each subspace. The friction force, depending on the contact force, is compensated adaptively. Asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov‐Like Lemma. Experimental results obtained using a 3 D.O.F. robot are given.