Feedback control of decoupled bending and torsional vibrations of flexible beams

In this article, we consider a flexible beam with a rigid body, of which the bending vibration and the torsional vibration are decoupled. Therefore we need two control motors to suppress the vibrations. Each set of dynamic equations is treated in the form of an appropriate Hilbert space. A stabilizing feedback control law of each rotation motor will be established on the basis of modal analysis. A set of experiments has been carried out, and the results demonstrate the effectiveness of the dynamic model and the proposed control law. © 1994 John Wiley & Sons, Inc.     

Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

Current Diagnosis and Treatment Options for Cutaneous Adnexal Neoplasms with Follicular Differentiation

Neoplasms derived from follicular tissue are extremely rare. Clinically, they are reported as non-symptomatic, slow-growing nodules. These lesions are mainly benign, but the malignant type can occur. Mainly middle-aged people (50–60 years of age) are affected. These carcinomas are mainly localized on the head and neck or torso. They can be locally aggressive and infiltrate surrounding tissue and metastasize to regional lymph nodes. In the minority of cases, distant metastases are diagnosed. Quick and relevant diagnosis is the basis of a treatment for all types of tumors. The patient’s life expectancy depends on multiple prognostic factors, including the primary tumor size and its mitotic count. Patients should be referred to a specialized skin cancer center to receive optimal multidisciplinary treatment. This article tries to summarize all the information that is currently available about pathogenesis, diagnosis, and treatment methods of follicular tumors.     

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

Artificial Life and Robotics - This paper describes the design and performance evaluation of a flexible wearable haptic device that aims to realize full kinesthetic haptic feedback for application...     

Region with velocity constraints: map information and its usage for safe motion planning of a mobile robot in a public environment

Recently, various autonomous mobile robots have been developed for practical use. To support the coexistence of robots and humans in real environments, we propose a concept named ‘Region with Velocity Constraints (RVC),’ which is set around hazardous areas. RVCs are regions where the velocities of the robot are constrained to predefined values. Inside the RVCs, the robot has to reduce its translational velocity to avoid predicted hazards such as collisions with obstacles, and to reduce its rotational velocity to prevent undesirable motions such as sharp turns. We also propose a motion planning method for navigating the mobile robot in an environment with RVCs based on the Navigation Function and Global Dynamic Window Approach. Our method generates a trajectory satisfying both translational and rotational velocity constraints to be compatible with the surroundings. Moreover, to demonstrate the validity of our method, we performed numerical simulations and experiments.     

An adaptive associative memory system based on autonomous reaction between image memories

To construct a “thinking-like” processing system, a new architecture of an adaptive associative memory system is proposed. This memory system treats “images” as basic units of information, and adapts to the environment of the external world by means of autonomous reactions between the images. The images do not have to be clear, distinct symbols or patterns; they can be ambiguous, indistinct symbols or patterns as well. This memory system is a kind of neural network made up of nodes and links called a localist spreading activation network. Each node holds one image in a localist manner. Images in high-activity nodes interact autonomously and generate new images and links. By this reaction between images, various forms of images are generated automatically under constraints of links with adjacent nodes. In this system, three simple image reaction operations are defined. Each operation generates a new image by combining pseudofigures or features and links of two images. This work was presented, in part, at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–22, 1999     

Estrogen Receptors Mediated Negative Effects of Estrogens and Xenoestrogens in Teleost Fishes—Review

Estrogen receptors (ERs) play a key role in many biochemical and physiological processes, that are involved in maintaining organism homeostasis. At the most basic level, they can be divided into nuclear estrogen receptors and membrane estrogen receptors that imply their effect in two ways: slower genomic, and faster non-genomic. In these ways, estrogens and xenoestrogens can negatively affect animal health and welfare. Most of the available literature focuses on human and mammalian physiology, and clearly, we can observe a need for further research focusing on complex mutual interactions between different estrogens and xenoestrogens in aquatic animals, primarily fishes. Understanding the mechanisms of action of estrogenic compounds on the ERs in fishes and their negative consequences, may improve efforts in environmental protection of these animals and their environment and benefit society in return. In this review, we have summarized the ER-mediated effects of xenoestrogens and estrogens on teleost fishes metabolism, their carcinogenic potential, immune, circulatory, and reproductive systems.