Gait Generation of Multilegged Robots by using Hardware Artificial Neural Networks

Living organisms can act autonomously because biological neural networks process the environmental information in continuous time. Therefore, living organisms have inspired many applications of autonomous control to small-sized robots. In this chapter, a small-sized robot is controlled by a hardware artificial neural network (ANN) without software programs. Previously, the authors constructed a multilegged walking robot. The link mechanism of the limbs was designed to reduce the number of actuators. The current paper describes the basic characteristics of hardware ANNs that generate the gait for multilegged robots. The pulses emitted by the hardware ANN generate oscillating patterns of electrical activity. The pulse-type hardware ANN model has the basic features of a class II neuron model, which behaves like a resonator. Thus, gait generation by the hardware ANNs mimics the synchronization phenomena in biological neural networks. Consequently, our constructed hardware ANNs can generate multilegged robot gaits without requiring software programs

Astrometric Image Centroid Displacements due to Gravitational Microlensing by the Ellis Wormhole

Continuing work initiated in an earlier publication (Abe, ApJ, 725 (2010) 787), we study the gravitational microlensing effects of the Ellis wormhole in the weak-field limit. First, we find a suitable coordinate transformation, such that the lens equation and analytic expressions of the lensed image positions can become much simpler than the previous ones. Second, we prove that two images always appear for the weak-field lens by the Ellis wormhole. By using these analytic results, we discuss astrometric image centroid displacements due to gravitational microlensing by the Ellis wormhole. The astrometric image centroid trajectory by the Ellis wormhole is different from the standard one by a spherical lensing object that is expressed by the Schwarzschild metric. The anomalous shift of the image centroid by the Ellis wormhole lens is smaller than that by the Schwarzschild lens, provided that the impact parameter and the Einstein ring radius are the same. Therefore, the lensed image centroid by the Ellis wormhole moves slower. Such a difference, though it is very small, will be in principle applicable for detecting or constraining the Ellis wormhole by using future high-precision astrometry observations. In particular, the image centroid position gives us an additional information, so that the parameter degeneracy existing in photometric microlensing can be partially broken. The anomalous shift reaches the order of a few micro arcsec. if our galaxy hosts a wormhole with throat radius larger than $10^5$ km. When the source moves tangentially to the Einstein ring for instance, the maximum position shift of the image centroid by the Ellis wormhole is 0.18 normalized by the Einstein ring radius. For the same source trajectory, the maximum difference between the centroid displacement by the Ellis wormhole lens and that by the Schwarzschild one is -0.16 in the units of the Einstein radius.Comment: 29 pages, 6 figures, 2 tables, accepted by Ap

Trace element concentrations in the small Indian mongoose (\u3ci\u3eHerpestes auropunctatus\u3c/i\u3e) from Hawaii, USA

Concentrations of 26 trace elements including essential (Mg, Ca, Cr, V, Mn, Fe, Co, Ni, Cu, Zn, Se, Sr and Mo) and toxic (As, Cd and Pb), were determined in the liver, kidney, brain, hair, muscle, and stomach contents of the small Indian mongooses inhabiting eight areas on three Hawaiian Islands, Oahu, Maui and Hawaii. There were significant differences in concentrations of some metals among the habitats. Cadmium concentrations in mongooses from the macadamia nut orchards on Island of Hawaii were relatively higher than those in populations from other seven areas. Lead concentrations in mongooses from the Ukumehame firing range were significantly higher than those from other areas. Compared to data reported in mongooses from other countries, Pb concentrations in the brain were higher in the animals from Hawaiian islands, but almost similar levels were observed in the liver and kidney. Intriguingly, brain concentrations of Pb in three specimens from the Ukumehame firing range exceeded 3.79 μg g−1 WW, which was the mean cerebral Pb level in rats that caused some toxic symptoms after administration in the previous study. Furthermore, two fetuses exhibited higher brain Pb concentrations than each of their dams. These results prompted us to consider the potential exposure and health effects of Pb derived from firing range operations on the small Indian mongoose and other animal species including human

Trace element concentrations in the small Indian mongoose (\u3ci\u3eHerpestes auropunctatus\u3c/i\u3e) from Hawaii, USA

Concentrations of 26 trace elements including essential (Mg, Ca, Cr, V, Mn, Fe, Co, Ni, Cu, Zn, Se, Sr and Mo) and toxic (As, Cd and Pb), were determined in the liver, kidney, brain, hair, muscle, and stomach contents of the small Indian mongooses inhabiting eight areas on three Hawaiian Islands, Oahu, Maui and Hawaii. There were significant differences in concentrations of some metals among the habitats. Cadmium concentrations in mongooses from the macadamia nut orchards on Island of Hawaii were relatively higher than those in populations from other seven areas. Lead concentrations in mongooses from the Ukumehame firing range were significantly higher than those from other areas. Compared to data reported in mongooses from other countries, Pb concentrations in the brain were higher in the animals from Hawaiian islands, but almost similar levels were observed in the liver and kidney. Intriguingly, brain concentrations of Pb in three specimens from the Ukumehame firing range exceeded 3.79 μg g−1 WW, which was the mean cerebral Pb level in rats that caused some toxic symptoms after administration in the previous study. Furthermore, two fetuses exhibited higher brain Pb concentrations than each of their dams. These results prompted us to consider the potential exposure and health effects of Pb derived from firing range operations on the small Indian mongoose and other animal species including human

Optical Properties of (162173) 1999 JU3: In Preparation for the JAXA Hayabusa 2 Sample Return Mission

We investigated the magnitude-phase relation of (162173) 1999 JU3, a target asteroid for the JAXA Hayabusa 2 sample return mission. We initially employed the international Astronomical Union's H-G formalism but found that it fits less well using a single set of parameters. To improve the inadequate fit, we employed two photometric functions, the Shevchenko and Hapke functions. With the Shevchenko function, we found that the magnitude-phase relation exhibits linear behavior in a wide phase angle range (alpha = 5-75 deg) and shows weak nonlinear opposition brightening at alpha< 5 deg, providing a more reliable absolute magnitude of Hv = 19.25 +- 0.03. The phase slope (0.039 +- 0.001 mag/deg) and opposition effect amplitude (parameterized by the ratio of intensity at alpha=0.3 deg to that at alpha=5 deg, I(0.3)/I(5)=1.31+-0.05) are consistent with those of typical C-type asteroids. We also attempted to determine the parameters for the Hapke model, which are applicable for constructing the surface reflectance map with the Hayabusa 2 onboard cameras. Although we could not constrain the full set of Hapke parameters, we obtained possible values, w=0.041, g=-0.38, B0=1.43, and h=0.050, assuming a surface roughness parameter theta=20 deg. By combining our photometric study with a thermal model of the asteroid (Mueller et al. in preparation), we obtained a geometric albedo of pv = 0.047 +- 0.003, phase integral q = 0.32 +- 0.03, and Bond albedo AB = 0.014 +- 0.002, which are commensurate with the values for common C-type asteroids.Comment: 27 pages, 4 figure, accepted for publication in the Astrophysical Journa

H, C, and N isotopic compositions of Hayabusa category 3 organic samples

Since isotopic ratios of H, C, and N are sensitive indicators for determining extraterrestrial organics, we have measured these isotopes of Hayabusa category 3 organic samples of RB-QD04-0047-02, RA-QD02-0120, and RB-QD04-0001 with ion imaging using a NanoSIMS ion microprobe. All samples have H, C, and N isotopic compositions that are terrestrial within errors (approximately ±50‰ for H, approximately ±9‰ for C, and approximately ±2‰ for N). None of these samples contain micrometer-sized hot spots with anomalous H, C, and N isotopic compositions, unlike previous isotope data for extraterrestrial organic materials, i.e., insoluble organic matters (IOMs) and nano-globules in chondrites, interplanetary dust particles (IDPs), and cometary dust particles. We, therefore, cannot conclude whether these Hayabusa category 3 samples are terrestrial contaminants or extraterrestrial materials because of the H, C, and N isotopic data. A coordinated study using microanalysis techniques including Fourier transform infrared spectrometry (FT-IR), time-of-flight secondary ion mass spectrometry (ToF-SIMS), NanoSIMS ion microprobe, Raman spectroscopy, X-ray absorption near edge spectroscopy (XANES), and transmission electron microscopy/scanning transmission electron microscopy (TEM/STEM) is required to characterize Hayabusa category 3 samples in more detail for exploring their origin and nature.This research was supported by the JSPS Strategic Fund for Strengthening Leading-edge Research and Development to the JAMSTEC

H, C, and N isotopic compositions of Hayabusa category 3 organic samples

Since isotopic ratios of H, C, and N are sensitive indicators for determining extraterrestrial organics, we have measured these isotopes of Hayabusa category 3 organic samples of RB-QD04-0047-02, RA-QD02-0120, and RB-QD04-0001 with ion imaging using a NanoSIMS ion microprobe. All samples have H, C, and N isotopic compositions that are terrestrial within errors (approximately ±50‰ for H, approximately ±9‰ for C, and approximately ±2‰ for N). None of these samples contain micrometer-sized hot spots with anomalous H, C, and N isotopic compositions, unlike previous isotope data for extraterrestrial organic materials, i.e., insoluble organic matters (IOMs) and nano-globules in chondrites, interplanetary dust particles (IDPs), and cometary dust particles. We, therefore, cannot conclude whether these Hayabusa category 3 samples are terrestrial contaminants or extraterrestrial materials because of the H, C, and N isotopic data. A coordinated study using microanalysis techniques including Fourier transform infrared spectrometry (FT-IR), time-of-flight secondary ion mass spectrometry (ToF-SIMS), NanoSIMS ion microprobe, Raman spectroscopy, X-ray absorption near edge spectroscopy (XANES), and transmission electron microscopy/scanning transmission electron microscopy (TEM/STEM) is required to characterize Hayabusa category 3 samples in more detail for exploring their origin and nature.This research was supported by the JSPS Strategic Fund for Strengthening Leading-edge Research and Development to the JAMSTEC

Development of UPS-SMES as a protection from momentary voltage drop

We have been developing the UPS-SMES as a protection from momentary voltage drop and power failure. The superconducting system is suitable as electric power storage for large energy extraction in a short time. The most important feature of superconducting coil system for the UPS-SMES is easy handling and maintenance-free operation. We have selected low temperature superconducting (LTS) coils instead of high temperature superconducting (HTS) coils from the viewpoint of cost and performance. However, it is difficult for the conventional LTS coils to fulfill maintenance-free operation since the cooling methods are either pool boiling with liquid helium or forced flow of supercritical helium. Thus, a conduction cooled LTS pulse coil has been designed as a key component of the UPS-SMES. The development program of 1 MW, 1 sec UPS-SMES is explained

Extending the Planetary Mass Function to Earth Mass by Microlensing at Moderately High Magnification

A measurement by microlensing of the planetary mass function of planets with masses ranging from 5M_E to 10M_J and orbital radii from 0.5 to 10 AU was reported recently. A strategy for extending the mass range down to (1-3)M_E is proposed here. This entails monitoring the peaks of a few tens of microlensing events with moderately high magnifications with 1-2m class telescopes. Planets of a few Earth masses are found to produce deviations of ~ 5% to the peaks of microlensing light curves with durations ~ (0.7-3)hr in events with magnification ~ 100 if the projected separation of the planet lies in the annular region (0.85-1.2)r_E. Similar deviations are produced by Earth mass planets in the annular region (0.95-1.05)r_E. It is possible that sub-Earths could be detected very close to the Einstein ring if they are sufficiently abundant, and also planetary systems with more than one low mass planet.Comment: 12 pages, 20 figures (in press) MNRAS (2013

Site-specific differences in T lymphocyte composition of the gastric mucosa after Helicobacter pylori eradication

In our earlier work, we revealed that inflammation of the lesser curvature of the gastric body and antrum could constitute independent risk factors for gastric cancer development, while inflammation of the greater curvature was not. The aims of this study were as follows: first, to reveal the differences between T lymphocyte populations of the gastric antrum and the greater and lesser curvatures of the gastric body in patients after Helicobacter pylori eradication; second, to analyze the correlation between the composition of the stomach-resident T lymphocytes and time from H. pylori eradication; and third, to evaluate the sex differences in T lymphocyte subsets after H. pylori eradication. To investigate site-specific differences in stomach-resident T lymphocytes after H. pylori eradication, we performed flow cytometry analysis on samples taken from the gastric antrum, greater curvature of the gastric body, and lesser curvature of the gastric body of 20 patients. We also analyzed the correlation between the composition of the stomach-resident T lymphocytes and the time from H. pylori eradication. The lymphocyte subsets of the antrum and lesser curvature of the body were similar. In contrast, compared to those in the greater curvature of the gastric body, CD4(+)/CD3(+) lymphocyte subsets (43.8 +/- 19.4% vs 31.7 +/- 14.6%) were elevated in the lesser curvature of the body, whereas CD8(+)/CD3(+) (67.1 +/- 21.3% vs 80.4 +/- 12.0%), CD7(+)/CD3(+) (91.2 +/- 4.6% vs 93.7 +/- 3.8%), CCR4(+)/CD3(+) (7.7 +/- 8.1% vs 10.4 +/- 7.0%), CD45RA(+)/CD3(+)CD4(+) (27.2 +/- 24.8% vs 39.5 +/- 20.8%), and CD45RA(+)/CD3(+)CD4(-) (14.2 +/- 11.1% vs 18.7 +/- 11.5) were lower. Linear regression analysis showed a negative correlation between the time after H. pylori eradication and CD4(+)/CD3(+) (P < .05, R-2 = 0.198). There were no significant differences between men and women with respect to the lymphocyte populations. These results indicate that there are site-specific differences in lymphocyte composition in the stomach after H. pylori eradication