Static Balancing Control of Humanoid Robot based on Accelerometer

[[abstract]]A static balancing control method is proposed and implemented on a humanoid robot so that the robot can stand and balance on a plane. A small-size humanoid robot named TWNHR-IV with 26 degree-of-freedom (DOF) is implemented. A 3-axis accelerometer is installed on TWNHR-IV to obtain the x-axis, y-axis, and z-axis accelerations of TWNHR-IV. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems is proposed. The acceleration and the accelerationpsilas variation of the x-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system. The acceleration and the accelerationpsilas variation of the y-axis are considered to be the inputs of right-and-left fuzzy system. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.[[conferencetype]]國際[[conferencelocation]]Tokyo, Japa

The Study of Maximizing Customer Equity by Segmentation: A Modified K-Means Approach

As segmentation has been one of the central marketing tasks for decades and customer profitability valuation has seen wide study during the past few years, surprisingly, up to this date, there is a gap in marketing research that await a bridge to link up of these two important and closely related dimensions. In this paper, we introduce a decision support system with the goal of maximizing customer equity by segmentation. The decision support system introduced here is unique in that it accommodates the essence of customer profitability valuation into a segmentation scheme in a sensible and flexible manner, that it suggests the number of segments to be determined by the goal of profit maximization instead of some arbitrary numerical criterion, and that central to its technical core the outlier problem which is pervasive in cluster analysis has been addressed by a modified K-Means algorithm so that clustering can reflect the pattern of the majority of ordinary observations in a data set instead of being influenced by a handful of outliers. It followed by a number of test datasets from a public data source and a conclusion remark was made at the end

Hamiltonian Formalism of the de-Sitter Invariant Special Relativity

Lagrangian of the Einstein's special relativity with universal parameter $c$ ($\mathcal{SR}_c$) is invariant under Poincar\'e transformation which preserves Lorentz metric $\eta_{\mu\nu}$. The $\mathcal{SR}_c$ has been extended to be one which is invariant under de Sitter transformation that preserves so called Beltrami metric $B_{\mu\nu}$. There are two universal parameters $c$ and $R$ in this Special Relativity (denote it as $\mathcal{SR}_{cR}$). The Lagrangian-Hamiltonian formulism of $\mathcal{SR}_{cR}$ is formulated in this paper. The canonic energy, canonic momenta, and 10 Noether charges corresponding to the space-time's de Sitter symmetry are derived. The canonical quantization of the mechanics for $\mathcal{SR}_{cR}$-free particle is performed. The physics related to it is discussed.Comment: 24 pages, no figur

Mechanism of action and resistant profile of anti-HIV-1 coumarin derivatives

Dicamphanoyl khellactone (DCK) is a coumarin derivative that can potently inhibit HIV-1 replication. DCK does not inhibit RNA-dependent DNA synthesis. However, an HIV reverse transcriptase (RT) inhibitor-resistant strain, HIV-1/RTMDR1, is resistant to DCK. Thus, it is possible that HIV-1 RT is the target of DCK. To test this possibility, DCK-resistant viruses were selected in the presence of DCK. Our results indicate that a single amino acid mutation, E138K in HIV-1 RT, is sufficient to confer DCK resistance. Interestingly, a DCK derivative, 3'R,4'R-Di-O-(-)-camphanoyl-2-ethyl-2',2'-dimethyldihydropyrano[2,3-f]chromo ne (DCP8), is effective against HIV-1/RTMDR1. However, the DCK-escape virus carrying the E138K mutation remains resistant to DCP8. Since DCK did not inhibit the RNA-dependent DNA polymerase activity of HIV-1 RT when using poly-rA or poly-rC as template, we evaluated the effect of DCK on the DNA-dependent DNA polymerase activity of HIV-1 RT. Our results indicate that DCK can inhibit the DNA-dependent DNA polymerase activity of HIV-1 RT. In conclusion, DCK is a unique HIV-1 RT inhibitor that inhibits the DNA-dependent DNA polymerase activity. In contrast, DCK did not significantly affect the RNA-dependent DNA polymerase activity when poly-rA or poly-rC was used as templates. An E138K mutation in the non-nucleoside RT inhibitors (NNRTIs) binding pocket of HIV-1 RT confers resistance to DCK and its chromone derivative, DCP8

Effect of different omega-6/omega-3 polyunsaturated fatty acid ratios on the formation of monohydroxylated fatty acids in THP-1 derived macrophages

Omega-6 and omega-3 polyunsaturated fatty acids (n-6 and n-3 PUFA) can modulate inflammatory processes. In western diets, the content of n-6 PUFA is much higher than that of n-3 PUFA, which has been suggested to promote a pro-inflammatory phenotype. The aim of this study was to analyze the effect of modulating the n-6/n-3 PUFA ratio on the formation of monohydroxylated fatty acid (HO-FAs) derived from the n-6 PUFA arachidonic acid (AA) and the n-3 PUFAs eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA) in THP-1 macrophages by means of LC-MS. Lipid metabolites were measured in THP-1 macrophage cell pellets. The concentration of AA-derived hydroxyeicosatetraenoic acids (HETEs) was not significantly changed when incubated THP-1 macrophages in a high AA/(EPA+DHA) ratio of 19/1 vs. a low ratio AA/(EPA+DHA) of 1/1 (950.6 +/- 110 ng/mg vs. 648.2 +/- 92.4 ng/mg, p = 0.103). Correspondingly, the concentration of EPA-derived hydroxyeicosapentaenoic acids (HEPEs) and DHA-derived hydroxydocosahexaenoic acids (HDHAs) were significantly increased (63.9 +/- 7.8 ng/mg vs. 434.4 +/- 84.3 ng/mg, p = 0.012 and 84.9 +/- 18.3 ng/mg vs. 439.4 +/- 82.7 ng/mg, p = 0.014, respectively). Most notable was the strong increase of 18-hydroxyeicosapentaenoic acid (18-HEPE) formation in THP-1 macrophages, with levels of 170.9 +/- 40.2 ng/mg protein in the high n-3 PUFA treated cells. Thus our data indicate that THP-1 macrophages prominently utilize EPA and DHA for monohydroxylated metabolite formation, in particular 18-HEPE, which has been shown to be released by macrophages to prevent pressure overload-induced maladaptive cardiac remodeling

Grooming of Dynamic Traffic in WDM Star and Tree Networks Using Genetic Algorithm

The advances in WDM technology lead to the great interest in traffic grooming problems. As traffic often changes from time to time, the problem of grooming dynamic traffic is of great practical value. In this paper, we discuss dynamic grooming of traffic in star and tree networks. A genetic algorithm (GA) based approach is proposed to support arbitrary dynamic traffic patterns, which minimizes the number of ADM's and wavelengths. To evaluate the algorithm, tighter bounds are derived. Computer simulation results show that our algorithm is efficient in reducing both the numbers of ADM's and wavelengths in tree and star networks.Comment: 15 page

A note on autodense related languages

In this paper, some algebraic properties of autodense languages and pure autodense languages are studied. We also investigate the algebraic properties concerning anti-autodense languages. The family of anti-autodense languages contains infix codes, comma-free codes, and some subfamilies of new codes which are anti-autodense prefix codes, anti-autodense suffix codes and anti-autodense codes. The relationships among these subfamilies of new codes are investigated. The characterization of L (n) , n a parts per thousand yen 2, which are anti-autodense is studied

The effect of charge and albumin on cellular uptake of supramolecular polymer nanostructures

Intracellular delivery of functional biomolecules by using supramolecular polymer nanostructures has gained significant interest. Here, various charged supramolecular ureido-pyrimidinone (UPy)-aggregates were designed and formulated via a simple “mix-and-match” method. The cellular internalization of these UPy-aggregates in the presence or absence of serum proteins by phagocytic and non-phagocytic cells, i.e., THP-1 derived macrophages and immortalized human kidney cells (HK-2 cells), was systematically investigated. In the presence of serum proteins the UPy-aggregates were taken up by both types of cells irrespective of the charge properties of the UPy-aggregates, and the UPy-aggregates co-localized with mitochondria of the cells. In the absence of serum proteins only cationic UPy-aggregates could be effectively internalized by THP-1 derived macrophages, and the internalized UPy-aggregates either co-localized with mitochondria or displayed as vesicular structures. While the cationic UPy-aggregates were hardly internalized by HK-2 cells and could only bind to the membrane of HK-2 cells. With adding and increasing the amount of serum albumin in the cell culture medium, the cationic UPy-aggregates were gradually taken up by HK-2 cells without anchoring on the cell membranes. It is proposed that the serum albumin regulates the cellular internalization of UPy-aggregates. These results provide fundamental insights for the fabrication of supramolecular polymer nanostructures for intracellular delivery of therapeutics.</p

Hot String Soup

Above the Hagedorn energy density closed fundamental strings form a long string phase. The dynamics of weakly interacting long strings is described by a simple Boltzmann equation which can be solved explicitly for equilibrium distributions. The average total number of long strings grows logarithmically with total energy in the microcanonical ensemble. This is consistent with calculations of the free single string density of states provided the thermodynamic limit is carefully defined. If the theory contains open strings the long string phase is suppressed.Comment: 13 pages, no figures, uses LaTex, some errors in equations have been corrected, NSF-ITP-94-83, UCSBTH-94-3