<Original Paper>Mossbauer Study on Martensitic Transformation in TiNi Alloys

Mossbauer spectroscopic study was performed on the ^Co-doped Ti_Ni_ and Ti_ Ni_ alloys in order to obtain additional informations on the martensitic transformation. The spectra consists of two singlet absorption lines which are due to the Fe(Co) impurities substituted at the Ti and Ni sites, respectively. The temperature variations of isomer shifts and effective halfwidths can be interpreted only by postulating two kinds of premartensitic phase. The one exists together with the martensitic phase in the temperature range between A_s and A_f, and the other between A_f and A_f+40K. Thermal scans of the resonant γ-ray transmission rate were measured at the Doppler velocities between ±1.9mm/sec and the zero-velocity, in order to observe the temperatuture variation of recoilless fraction. The anomalous decreases of recoilless fraction originated from lattice softening were found around two temperature regions which are M_s+85K~M_s+135K and M_s+45~M_s+55K. The results are discussed by bringing a comparison with the charge-density wave (CDW) model and the modulated lattice relaxation (MLR) model

Forward Kinematics and Inverse Kinematics of Human Type Dual Arm Manipulator

現在我々は、人間と同じ7自由度を持つ双腕マニピュレータを用いマスタ・スレーブシステムの様々な知的制御手法について研究を行っている。本報告では、それらの研究の最も基本的な部分であるマニピュレータの順運動学と逆運動学の解析について述べる。順運動学は機構によらず容易に解くことができるが、逆運動学は機構が複雑になるにつれ解析することが困難になる。現在取り扱っているように、マニピュレータが7自由度を持つ場合は、位置姿勢決定に対し冗長であるため、一意に決定することができない。そこで、何らかの拘束条件を必要とする。そこで、本報告においては人間の肘にあたる関節に注目し解析を行った。更に、解析した結果を用いたマニピュレータの軌道制御のシミュレーションについて報告する。We have studied several intelligent control methods of master-slave system by using dual arm manipulator which has 7 D.O.F. same as human-being. This paper describes the analyzing of forward kinematics and inverse kinematics of 7 D.O.F. manipulator. Though it is easy to analyze forward kinematics, it is difficult to solve inverse kinematics due to complex structure. In case that manipulator has 7 D.O.F., we cannot decide the inverse kinematics, because 7 D.O.F. manipulator has flexibility of position and orientation. Thus we need some restriction condition. In this paper, we notice the joint corresponding to human-being\u27s elbow. And we report the simulation result which is tracking control of the manipulator by using analyzed inverse kinematics

Posture Determination Method of Human-Type Redundant Manipulator

現在我々は，人間と同等の7自由度を持つ冗長マニピュレータを用い，ハンドに取り付けられたCCDカメラから得られる画像情報を利用した物体把持に関する研究を行っている．対象物を把持するためには形状に合わせ，手先効果器の姿勢を考慮する必要がある．そこで本報告では，この姿勢に関する順運動学および逆運動学について述べ，さらに逆運動学に存在する特異点問題に関して考察する．This article reports on a method for avoiding singular posture in the movement of robots\u27 hands. When we control robotic manipulators by vision servomechanism, the robots\u27 hand sometimes fall into so called "singular posture," which causes irregular motions. This report includes a basic consideration on kinematics and inverse kinematics of the robot considered here., a detailed analysis of the singular posture and a way to avoid the singular situation

An Epidemiological Survey of Paragonimiasis in Hata District, Kochi Prefecture

October 1969, the authors made an epidemiological survey on paragonimiasis among residents of Hata District, Kochi Prefecture. On 2349 general inhabitants including the students of primary schools and junior high schools, intradermal test was carried out combining stool examination, chest X-ray photographying and some anamnesis studies. Incidence of metacercaria was also examined on the fresh water crabs, Eriockeir japonicus, which were collected from rivers through these areas. The skin test using VBS paragonimus antigen revealed positive in 13.3 per cent of the inhabitants examined. The positive rate was generally higher in mountainous resions located along the upper reaches of the Shimanto River, especially in a small community, Honmura, the highest rate was obtained as much as 27.6 per cent. The rate and intensity of the reaction tend to increase with age showing its peak at the group of 50 years of age. According to the stool examination, 22.5 per cent of 1726 persons were positive for Metagonimus yokogawai, indicating a high incidence of the parasite among the inhabitants in these areas. Paragonimus ova was detected in only 7 individuals, 1.9 per cent of 365 persons showing positive skin reaction. In the present survey, the rate of demotstrating ova from the test positive group was very low compared to that in the other endemic areas. On the other hand, abnormal chest X-ray findings suggesting paragonimus infection were frequently observed as in 18.6 per cent of the inhabitants having positive skin reaction. Metagonimus eggs were widely detected among the inhabitant without regard of intensity of the skin reaction. For instance, the eggs were demonstrated in 23.3 per cent among the test negative and in 26.0 per cent among the positives. Moreover, the frequency distribution of intensity of the reaction in the carriers group showed a similar pattern in that of healthy group. Therefore, it can be said that no positive reaction in these areas may be attributable to metagonimus infection. Metacercariae were demonstrated in 31.3 per cent of 166 crabs totally, however there was found a great difference in the incidence varing from 10.3 per cent to 83.3 per cent according to the localities collecting crabs. Generally speaking, it was highes at upper reaches of the river and lower in the parts of down stream.著者は高知県幡多郡の一般住民を対象として肺吸虫症蔓延の実態を調査し高い浸淫のあることを知った.得られた成績を要約すると次の通りである.1)小中高生徒,一般成人合計2,349名に肺吸虫抗原を用いて皮内反応を行い312名(13.3%)にVBS陽性反応が得られ,凝陽性を入れるとその率は20.5%である.2)反応陽性率及びその強さは年令と共に上昇するが,地域的にみると西土佐村で最も高く,特に河川の上流にある山間の部落に高率である.3)糞便検査の結果,皮内反応陽性群の中から7名に肺吸虫卵が発見されたが,それは皮内反応陽性者の1.9%にあたり検出率は極めて低率であることが注目される.4)被検者の22.5%に横川吸虫卵が認められたが,その寄生は皮内反応には影響ないと思われる.5)757名に胸部X線撮影を行い,73名(9.6%)に肺吸虫症と診定される異常所見が認められたが,皮内反応陽性者殊に成人層にその率が高い.6)河川のモクズガニを調べ10.3%から83.3%にメタセルカリアの寄生を認め,住民の間には広く「カニ」を食べる習慣が認められる

国文研ニューズ No.31 SPRING 2013

●メッセージ国文学研究資料館41年●研究ノート『和泉式部日記jの本文異同への新視点一傍記混入から見えてくるもの－合羽摺り絵本『彩色画選』とカラリスト松寿堂｢蔵書印データベース｣にできること－つながるデータ､可視化する書脈『中国古籍総目』の編纂について●トピックス平成24年度日本古典籍講習会人間文化研究機織連携展示「記憶をつなぐ一津波災害と文化遺産一｣国文学研究資料館常設展示｢和書のさまざま」百人一首たまてばこ平成25年度アーカイブズカレッジ（史料管理学研修会通算第59回）の開催新収資料紹介総合研究大学院大学日本文学研究専攻の近況