Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

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     

Simulation of migration from a multi-layer laminated film intended for retort foods

Migration from multi-layer laminated film pouches intended for retort foods was investigated through HPLC analysis with a fluorescence detector, and measurements of residue on evaporation, consumption of potassium permanganate and total organic carbon. HPLC analysis revealed that the levels of migrants in oil and the water which were heated in the pouches (121 degrees C, 30 min) were ten times of those in the corresponding official simulants under the official conditions; n-heptane (25 degrees C, 60 min), and water (95 degrees C, 30 min). Bisphenol A diglycidyl ether and related compounds were found in the oil and the water heated in the pouches, as well as in the simulants. These compounds were thought to have been present in the adhesive between the laminated films, and migrated through the food-contact film of the package. Consumption of potassium permanganate and residue on evaporation of the heated water were ten times of those of the water simulant, while the total organic carbon level of the heated water was several-hold greater than that of the water simulant. In addition, migrant levels per surface area of the pouch were one-fourth of the concentrations per content volume of the pouch. Since compliance with the legal limits is evaluated based on the concentration per surface area, real migration into foods would be underestimated by a factor of another four.     

Lipid emulsions of palmitoylrhizoxin: effects of composition on lipolysis and biodistribution

Four types of lipid emulsion for highly lipophilic antitumour agent RS-1541 (13-O-palmitoylrhizoxin) with mean particle diameters of 200-260 nm were prepared using soybean oil (SOY) or dioctanoyldecanoylglycerol (ODO) for the oil phase and lecithin (LEC) or polyoxyethylene-(60)-hydrogenated castor oil (HCO-60) for surfactants. The lipolysis rate of HCO-60-emulsified emulsions by lipoprotein lipase was much slower than that of LEC-emulsified emulsions. Particle sizes of emulsions incubated in plasma with the lipase for six hours were 75%, 79%, 101%, and 93% of initial values for SOY/LEC, ODO/LEC, SOY/HCO-60, and ODO/HCO-60 emulsions, respectively, showing an apparent size decrease for LEC-emulsified emulsions. In rats, uptake clearance values of SOY/LEC and ODO/LEC emulsions of RS-1541 in the reticuloendothelial system (RES) were 81.2 and 135.3 mL h(-1), respectively, and AUC values were 4.0 and 1.3 microg h mL(-1), respectively. In contrast, RES uptake clearances of HCO-60 emulsions of RS-1541 were considerably lower (4.2 mL h(-1) for SOY/HCO-60; 2.2 mL h(-1) for ODO/HCO-60), resulting in high AUC values (35.4 microg h mL(-1) for SOY/ HCO-60; 63.9 microg h mL(-1) for ODO/HCO-60). The concentrations of RS-1541 in tumour tissues after an intravenous administration of ODO/HCO-60 emulsions of RS-1541 to mice bearing solid tumour M5076 sarcoma were about ten times higher than those after the administration of SOY/LEC emulsions. These results indicate that HCO-60 emulsions, compared with conventional LEC emulsions, are more stable to lipoprotein lipase and show low uptakes by RES organs, long circulations in the plasma, and high distributions in tumours. Thus, these sterically stabilized emulsions could show potential as effective carriers for highly lipophilic antitumour agents to enhance the drug delivery in tumours.     

Size dependence of THz region dielectric properties for barium titanate fine particles

Barium titanate (BaTiO₃) crystallites with various particle sizes from 22 to 500 nm were prepared by the two-step thermal decomposition method of barium titanyl oxalate. Various characterizations revealed that these particles were impurity-free, defect-free, dense BaTiO₃ particles. The powder dielectric measurement clarified that the dielectric constant of BaTiO₃ particles with a size of around 58 nm exhibited a maximum of over 15,000. To explain this size dependence, the THz region dielectric properties of BaTiO₃ fine particles, especially Slater mode frequency, were measured using the far infrared (FIR) reflection method. As the result, the lowest Slater mode frequency was obtained at 58 nm. This tendency was completely consistent with particle size dependence of the dielectric constant.     

Engineering of Lipid Nanoparticles by the Multifunctionalization of the Surface with Amino Acid Derivatives for the Neutralization of a Target Toxic Peptide

Protein affinity reagents (e.g., antibodies) are often used for basic research, diagnostics, separations, and disease therapy. Although a lot of “synthetic” protein affinity reagents have been developed as a cost-effective alternative to antibodies, their low biocompatibility is a considerable problem for clinical application. Lipid nanoparticles (LNP) represent a highly biocompatible drug delivery agent. However, little has been reported that LNP itself works as a protein affinity reagent in living animals. Here, LNP is engineered for binding to and neutralizing a target toxic peptide in living animals by multifunctionalization with amino acid derivatives. Multifunctionalized LNP (MF-LNP) is prepared using amino acid derivative-conjugated lipids. Optimized MF-LNP exhibits nanomolar affinity to the target toxic peptide and inhibits toxic peptide-dependent hemolysis and cytotoxicity. In addition, MF-LNP captures and neutralizes the toxic peptide after intravenous injection in the bloodstream; in addition, MF-LNP does not release the toxic peptide in the accumulated organ. These results reveal the potential of using LNP as a highly biocompatible protein affinity reagent such as an antidote.     

Autonomous mobile robot based on behavior decision skill and control skill of the operator

This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000     

Simultaneous B-M-mode scanning method for real-time full-range Fourier domain optical coherence tomography

High-speed complex full-range Fourier domain optical coherence tomography (FD-OCT) is demonstrated. In this FD-OCT, the phase modulation of a reference beam (M scan) and transversal scanning (B scan) are simultaneously performed. The Fourier transform method is applied along the direction of the B scan to reconstruct complex spectra, and the complex spectra comprise a full-range OCT image. Because of this simultaneous B-M-mode scan, the FD-OCT requires only a single A scan for each single transversal position to obtain a full-range FD-OCT image. A simple but slow version of the FD-OCT visualizes the cross section of a plastic plate. A modified fast version of this FD-OCT investigates a sweat duct in a finger pad in vivo and visualizes it with an acquisition time of 27 ms.     

Evaluation and Statistical Analysis of Dielectric Permittivity of BaTiO3 Powders

A slurry method was used to determine the dielectric permittivity (ɛ_r) of BaTiO₃ powders with different characteristics, such as tetragonality ( c / a ratio), density, particle size, and specific surface area. The ɛ_r of powders highly depended on their characteristics. In order to extract the effect of each characteristic, a statistical analysis was carried out to represent the ɛ_r of powders with an empirical formula. A fairly good agreement was obtained between observed data and those estimated from the formula. The ɛ_r decreased with particle size because of the size effect of BaTiO₃ and high tetragonality and density was essential to obtain high ɛ_r of powders.     

High-Performance Condenser Microphone With Single-Crystalline Silicon Diaphragm and Backplate

This paper presents a high-performance silicon condenser microphone fabricated with a new process using single-crystalline silicon. This simple fabrication process, which requires only two photolithography steps and two wet-etching steps, is suitable for low-cost mass production. We designed the structure of a high-performance microphone and simulated it with an equivalent acoustic-circuit model. We then fabricated a prototype microphone based on this design, and experimental measurements on the prototype confirmed its excellent acoustic characteristics, such as a high sensitivity of -43.5 dB, a wide frequency range of 30 Hz to 20 kHz, and a high maximum sound pressure level (1 kHz at 1% THD) of 122 dB_SPL. The measured equivalent noise (A-weighted) is 30.5 dBA_SPL. The measured frequency responses showed good agreement with those estimated from the simulation, indicating that the high controllability of the process enabled us to fabricate the prototype as we designed it. These results show that it is feasible to economically mass produce such high-performance microphones for purposes ranging from broadcasting to consumer use