Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems

Generally, point-to-point control for a completely restrained (CR) parallel-wire-driven system requires a balancing internal force to prevent slackening of wires, along with a feedback term based on some displacement sensor. This paper specifically describes CR systems' internal force properties, then presents the possibility of motion convergence at a desired position when the internal force balancing at a position is given as sensorless feedforward input. Subsequently, we use the property of internal force positively for sensorless position control. This positioning method is applicable for low-cost manipulation, which does not require high accuracy, and for emergency positioning of systems when sensors malfunction.     

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.     

Blood Pressure Elevation of Tubular Specific (P)RR Transgenic Mice and Lethal Tubular Degeneration due to Possible Intracellular Interactions between (P)RR and Alternative Renin Products

The prorenin/renin receptor ((P)RR) is a multifunctional protein that is widely distributed in various organs. Despite intensive research for more than 20 years, this receptor has not been fully characterized. In this study, we generated mice overexpressing the tubular epithelial (P)RR gene ((P)RR-TG mice) to test the previously reported functional role of (P)RR by Ramkumar et al. in 2015 using tubular specific (P)RR KO mice. (P)RR-TG mice were maintained and analyzed in individual metabolic cages and were administered angiotensin II blocker (ARB), direct renin inhibitor (DRI), and bafilomycin, that is, vacuolar ATPase (V-ATPase) antagonist. (P)RR-TG mice were hypertensive and had alkalized urine with lower osmolality and Na⁺ excretion. ARB and DRI, but not bafilomycin, concurrently decreased blood pressure. Bafilomycin acidized urine of (P)RR-TG mice, or equivalently this phenomenon restored the effect of overexpressed transgene, suggesting that (P)RR functioned as a V-ATPase in renal tubules. Afterall, (P)RR-TG mice were mated with alternative renin transgenic mice (ARen2-TG), which we identified as intracellular renin previously, to generate double transgenic mice (DT-TG). Lethal renal tubular damage was observed in DT-TG mice, suggesting that intracellular renin may be a ligand for (P)RR in tubules. In summary, (P)RR did not substantially affect the tissue renin-angiotensin system (RAS) in our model of tubular specific (P)RR gene over-expression, but alternative intracellular renin may be involved in (P)RR signaling in addition to conventional V-ATPase function. Further investigations are warranted.     

Sensory‐motor control mechanism for reaching movements of a redundant musculo‐skeletal arm

This paper studies the human arm's sensory‐motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two‐link planar arm model with six redundant muscles. The nonlinear muscle dynamics is modeled based on several biological understandings. We then show the stability of the overall system and perform some numerical simulations. By considering the internal forces induced by the redundant muscles, we show that the damping factors in each joint can be regulated, and as the result, it can realize humanlike quasistraight line reaching movements. In addition, we also propose the gravity compensation method at the muscle input level and present the result of numerical simulation to verify the usefulness of this method. © 2005 Wiley Periodicals, Inc.     

Isolation of dimethyl sulfone-degrading microorganisms and application to odorless degradation of dimethyl sulfoxide

With the objective of developing an odorless biodegradation process for dimethyl sulfoxide (DMSO), Hyphomicrobium sp. WU-OM3 was isolated. During the cultivation of strain WU-OM3 cells with 20 mM dimethyl sulfone (DMSO2) as the sole carbon source, DMSO2 was completely consumed within 48 h and sulfate ion accumulated in the culture broth. Methanesulfonate was also detected as an intermediate of DMSO2 degradation. By combining the DMSO-oxidizing microorganism and strain WU-OM3 cells, 0.64 mM (50 mg/l) DMSO was degraded to sulfate ion with 80% molar conversion ratio.     

SODIUM ALUMINATE AS AN ELECTROLYTE FOR CASTING-SLIP CONTROL*

Sodium aluminate has been used as a water-softening agent, but not to any great extent in the ceramic industry. The results of this investigation show that sodium aluminate when used as a substitute for sodium carbonate in casting slips eliminates or minimizes some of the troubles usually encountered in the control of slips and in casting ware.     

Effects of Spin Fluctuations and Superconductivity in Quasi-One-Dimensional Organic Conductors

We study the electronic states using the single band Hubbard model at half-filling. We treat the effects of the on-site Coulomb interaction by the fluctuation-exchange (FLEX) method, and calculate the phase diagram and physical properties. The calculated pressure dependence of the magnetic transition temperature coincides well with the experimental one. We also show that a pseudogap is formed in the density of states near the chemical potential and that the NMR relaxation rate increases on cooling in the low-temperature region, and that d-wave superconductivity appears next to the antiferromagnetic state.     

Epidemiology of clonorchiasis in Ninh Binh Province, Vietnam

We present the spatial structure of binase, a small extracellular ribonuclease, derived from 1H-NMR* data in aqueous solution. The total of 20 structures were obtained via torsion angle dynamics using DYANA program with experimental NOE and hydrogen bond distance constraints and phi and chi1 dihedral angle constraints. The final structures were energy minimised with ECEPP/2 potential in FANTOM program. Binase consists of three alpha-helices in N-terminal part (residues 6-16, 26-32 and 41-44), five-stranded antiparallel beta-sheet in C-terminal part (residues 51-55, 70-75, 86-90, 94-99 and 104-108) and two-stranded parallel beta-sheet (residues 22-24 and 49-51). Three loops (residues 36-39, 56-67 and 76-83), which play significant role in biological functioning of binase, are flexible in solution. The differences between binase and barnase spatial structures in solution explain the differences in thermostability of binase, barnase and their hybrids.     

Observation of the rabbit cornea and lens with a new real-time confocal scanning optical microscope

A new one-sided tandem scanning microscope (OTSM) has been utilized to optically section a transparent cornea and ocular lens with submicron depth and transverse resolution. Its high resolution, image quality, and contrast, together with color capability, real-time operation, and easy alignment, have advantages over previous confocal systems. Planes within the nuclei of surface epithelial cells, the epithelial basement membrane, nerve fibers, the interior of endothelial cells, and the transverse structure of the lens fibers are readily observed. The utility of real-time microscopic observation of live biological structures provides a new paradigm for cell biology and diagnostic ophthalmology.     

Effect of Fullerenol C60 (OH)n (n∼24) on Hydrogen Adsorption on Pt Electrode in Aqueous Solutions

Fullerenol, C₆₀ (OH)_n (n is about 24), was investigated by using electrochemical techniques on Platinum electrode in aqueous solutions. Fullerenol was found to promote hydrogen adsorption during cathodic polarization, while its electrochemical inertness was observed within the potential window of water. This effect was involved by the formation of multi-layer adsorption of fullerenol on Pt surface.