Intracellular Porphyromonas gingivalis exploits recycling pathway to exit from infected cells

総

Real-time generation for optimal robot motion

Robot movement generation requires optimization treatment. However, the need for off-line computation makes it difficult to apply traditional optimization techniques to real-time robot control. An important goal is to develop a new algorithm that allows for real-time optimization. The most likely candidate which is called as Receding Horizon Control or Model Predictive Control algorithms have yet to be widely applied to real-time robot control environments. This thesis uses a legged robots as a control object, one that possesses unstable dynamics and requires specific balance conditions, with the Zero Moment Point balance condition being a particulary important challenge. Equal constraint, proposed in this thesis as a means for meeting such conditions during optimization formulation, overcomes Zero Moment Point problems. The state variable inequality constraint is a complex challenge because the optimal path must tangentially enter a constrained arc, and one or more time constraint derivatives must equal zero at all entry points. A second challenge addressed in this thesis is the description of a legged robot\u27s swing leg condition as a state variable inequality. Both the nonlinear swing leg and Zero Moment Point balance conditions are involved Receding Horizon Control formulation. ･･･Thesis (Ph. D. in Engineering)--University of Tsukuba, (A), no. 3699, 2005.3.25Includes bibliographical referencesIncludes supplementary treatise

From the World Trade Organization to the Trans-Pacific Partnership: China's Rise, Globalization, and American Domestic Politics

ABSTRACT China's rise and the relative decline of U.S. power have changed the order of the political economy of the region and the world. How does this new order change the roles and functions of the World Trade Organization (WTO)? How does this new order relate to the emergence of the Trans-Pacific Partnership (TPP) and G20? In this article, I argue that to explain the rise and decline of international institutions, we need to take into consideration American domestic politics. International institutions work when the American domestic forces (e.g., public opinion, interest groups, and domestic institutional arrangements) give leaders incentives to make them work. I explore the interactions between the WTO and the TPP on the one hand and American domestic politics on the other hand, and argue that the TPP is a better place for U.S. trade negotiations than the WTO, given the rising protectionist tendency in the U.S. Congress. April 3, 2015 This paper is work in progress in the fullest sense. Please do not quote without the author's permission. Comments are welcome