Humanoid Robot With Turnover Prevention and Self-Weight Compensation

Q-bot is the human-sized carriage robot for lifting heavy weight objects of in-house logistics, such as storehouse and convenience store. The main feature of Q-bot is the adhesion mechanism beneath the foot, called the turnover prevention Universal Vacuum Gripper (in short TP UVG) that holds its body for turnover prevention and self-weight compensation. Turnover prevention is one of the key technologies of in-house logistic robot for effective use of it. Self-weight compensation is another clue for the robot to achieve the labor work in narrow space. TP UVG is achieved both functions by adhering to uneven ground. The other function of Q-bot is multiple objects graspability based on two-sized Universal Vacuum Gripper by dual-armed manipulation. Q-bot also has omnidirectional movability based on mecanum wheels. In this research, we will report on the development of Q-bot and experiments to prevent the robot from falling when it grabs a heavy object while attached to the ground. We also report Q-bot demonstrations of Future Convenience-Store Challenge in the World Robot Summit 2018

Transabdominal Ultrasound Real-time Tissue Elastography as a Screening Method for Early Chronic Pancreatitis

Background and Purpose: The concept of early chronic pancreatitis was proposed in Japan with the aim to improve the prognosis of patients with chronic pancreatitis. Endoscopic ultrasonography plays an important role in early diagnoses, but is limited by its invasiveness and poor objectivity. Hence, this study aimed to determine the usefulness of transabdominal ultrasound real-time tissue elastography as a screening method for early chronic pancreatitis. Methods: We retrospectively examined 73 patients who underwent simultaneous ultrasound real-time tissue elastography and endoscopic ultrasonography from 2011 to 2014. The correlation between feature values (MEAN, %AREA, COMP) calculated by real-time tissue elastography and the Rosemont classification of endoscopic ultrasonography diagnostic criteria for chronic pancreatitis, and the diagnostic ability of ultrasound real-time tissue elastography to recognize “indeterminate for chronic pancreatitis” findings, which correspond to early chronic pancreatitis, were evaluated. Main Results: Based on the Rosemont classification, 26 patients were “normal”, 16 were “indeterminate for chronic pancreatitis”, 13 were “suggestive of chronic pancreatitis”, and 18 were “consistent with chronic ancreatitis”. There were significant correlations between the feature values (MEAN, %AREA, COMP) and the Rosemont classification (p < 0.001; ρ = –0.788, 0.779, and 0.489, respectively). The area under the curve for the ability of MEAN to diagnose “indeterminate for chronic pancreatitis” was 0.889 (sensitivity, 93.8%; specificity, 76.9%). Conclusions: The feature values calculated by ultrasound real-time tissue elastography were correlated with the Rosemont classification. Ultrasound real-time tissue elastography may be a useful screening method for early chronic pancreatitis

Region-Specific Responses of Adductor Longus Muscle to Gravitational Load-Dependent Activity in Wistar Hannover Rats

Response of adductor longus (AL) muscle to gravitational unloading and reloading was studied. Male Wistar Hannover rats (5-wk old) were hindlimb-unloaded for 16 days with or without 16-day ambulation recovery. The electromyogram (EMG) activity in AL decreased after acute unloading, but that in the rostral region was even elevated during continuous unloading. The EMG levels in the caudal region gradually increased up to 6th day, but decreased again. Approximately 97% of fibers in the caudal region were pure type I at the beginning of experiment. Mean percentage of type I fibers in the rostral region was 61% and that of type I+II and II fiber was 14 and 25%, respectively. The percent type I fibers decreased and de novo appearance of type I+II was noted after unloading. But the fiber phenotype in caudal, not rostral and middle, region was normalized after 16-day ambulation. Pronounced atrophy after unloading and re-growth following ambulation was noted in type I fibers of the caudal region. Sarcomere length in the caudal region was passively shortened during unloading, but that in the rostral region was unchanged or even stretched slightly. Growth-associated increase of myonuclear number seen in the caudal region of control rats was inhibited by unloading. Number of mitotic active satellite cells decreased after unloading only in the caudal region. It was indicated that the responses of fiber properties in AL to unloading and reloading were closely related to the region-specific neural and mechanical activities, being the caudal region more responsive

Corticostriatal connectivity fingerprints:Probability maps based on resting-state functional connectivity

Over the last decade, structure-function relationships have begun to encompass networks of brain areas rather than individual structures. For example, corticostriatal circuits have been associated with sensorimotor, limbic, and cognitive information processing, and damage to these circuits has been shown to produce unique behavioral outcomes in Autism, Parkinson's Disease, Schizophrenia and healthy ageing. However, it remains an open question how abnormal or absent connectivity can be detected at the individual level. Here, we provide a method for clustering gross morphological structures into subregions with unique functional connectivity fingerprints, and generate network probability maps usable as a baseline to compare individual cases against. We used connectivity metrics derived from resting-state fMRI (N = 100), in conjunction with hierarchical clustering methods, to parcellate the striatum into functionally distinct clusters. We identified three highly reproducible striatal subregions, across both hemispheres and in an independent replication dataset (N = 100) (dice-similarity values 0.40-1.00). Each striatal seed region resulted in a highly reproducible distinct connectivity fingerprint: the putamen showed predominant connectivity with cortical and cerebellar sensorimotor and language processing areas; the ventromedial striatum cluster had a distinct limbic connectivity pattern; the caudate showed predominant connectivity with the thalamus, frontal and occipital areas, and the cerebellum. Our corticostriatal probability maps agree with existing connectivity data in humans and non-human primates, and showed a high degree of replication. We believe that these maps offer an efficient tool to further advance hypothesis driven research and provide important guidance when investigating deviant connectivity in neurological patient populations suffering from e.g., stroke or cerebral palsy. Hum Brain Mapp 38:1478-1491, 2017. © 2016 Wiley Periodicals, Inc.status: publishe

Purification and Characterization of Extracellular Lipases Produced by Geotrichum sp. FO347-2

未精製鰯油を唯一の炭素源としてスクリーニングされた真菌類の中で、FO347-2株は最もリパーゼ生産性が高い株であった。本株は、同定の結果、Geotrichum sp. と推定された。また、菌体外に複数のリパーゼを分泌していたので、これらのリパーゼを精製し、酵素化学的性質を検討した。培養液の遠心上清をアセトン沈澱した後、DEAE-Toyepearl 650MとButyl-Toyopearl 650Mでカラムクロマトグラフイーを行った。その結果、前者のカラムでLipase I、IIの2つの活性画分を得、Iは更に後者のカラムでLipase A、 Bの2つの活性画分に分かれた。AとBは SDS-PAGE でそれぞれ単一なバンドであり、分子量マーカーより推定された分子量はA、Bそれぞれ、62kD, 58kDであった。また、AとBの反応至適pHは、ともに8.5であった。位置特異性(PSI)を調べた結果、Aは+47.0、Bは-25.7であり、精製鰯油を基質として脂肪酸特異性を調べた結果、AはC16:1、BはC18:1に最も高い特異性を示した。A fungus, FO347-2, produced the largest amount of lipase among the microorganisms that were isolated as microorganisms capable of assimilating sardine oil as a sole carbon source; it was identified as Geotrichum sp. As FO347-2 secreted several extracellular lipases, they were purified to examine their enzymatic properties. They were purified from the culture supernatant by ammonium sulfate fractionation, ion exchange chromatography, and hydrophobic interaction chromatography. Two peaks of lipase activity were separated as Lipase I and II by ion exchange chromatography. Further, Lipases A and B were obtained from the Lipase I fraction by hydrophobic interaction chromatography. Lipases A and B were homogeneous in SDS-PAGE and their molecular weights were 62 and 58kD, respectively. The optimum pHs of Lipases A and B were both 8.5. The positional specificity was expressed as PSI. The PSI values of Lipases A and B were +47.0 and -25.7, respectively. When the concentration rate of each fatty acid hydrolyzed by Lipases A or B in sardine oil was measured, Lipases A and B hydrolyzed the ester bonds of C16:1 and C18:1 with the highest velocity, respectively

Soil water content and water balance in rainfed fields in Northeast Thailand

Northeast Thailand has a semi-humid tropical climate which is characterized by dry and rainy seasons. In order to stabilize crop production, it may be necessary to develop new water resources, such as soil moisture and groundwater, instead of rainfed resources. This is because rainfed agriculture has already been unsuccessfully tried in many areas of this region. In this study, we investigate the soil water content in rainfed fields in Khon Kaen in Northeast Thailand, where rice and sugarcane were planted, over a 1-year period that contained both dry and rainy seasons, and estimate the actual evapotranspiration (ETa) using micrometeorological data. In addition, we assess the water balance from the results of the soil water content investigation and the actual evapotranspiration. Although the soil water content at depths above 0.6 m in both the lower and the sloping fields gradually decreased during the dry season, the soil water content at a depth of 1.0 m was under almost constant wet conditions. Two-dimensional profiles of the soil water content demonstrated that at the end of the dry season, the soil layers below a depth of 0.4 m showed a soil water content of more than 0.10-0.15 m3 m-3, thus suggesting that water was supplied to the sugarcane from those layers. The range in ETa rates was almost the same as that in the previous study. The average ETa rates were 3.7 mm d-1 for the lower field and 4.2 mm d-1 for the sloping field. In the dry season, an upward water flow of 373 mm (equivalent to a flux of 1.9 mm d-1) was estimated from outside the profile. The source of this upward water flow was the sandy clay (SC) layer below a depth of 1 m. It was this soil water supply from the SC layer that allowed the sugarcane to grow without irrigation.Soil water content Water balance Evapotranspiration Rainfed field Northeast Thailand

Data from: Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping

To maintain balance during dynamic locomotion, the effects of proprioceptive sensory feedback control (e.g. reflexive control) should not be ignored because of its simple sensation and fast reaction time. Scientists have identified the pathways of reflexes; however, it is difficult to investigate their effects during locomotion because locomotion is controlled by a complex neural system and current technology does not allow us to change the control pathways in living humans. To understand these effects, we construct a musculoskeletal bipedal robot, which has similar body structure and dynamics to a human. By conducting experiments on this robot, we investigate the effects of reflexes (stretch reflex and crossed inhibitory response) on the posture during hopping, a simple and representative bouncing gait with complex dynamics. Through over 300 hopping trials, we confirm that both the stretch reflex and crossed response can contribute to reducing the lateral inclination during hopping. These reflexive pathways do not use any prior knowledge of the dynamic information of the body such as its inclination. Beyond improving the understanding of human neural system, this study provides roboticists with biomimetic ideas for robot locomotion control

Cleavage of C–C and C–Si σ‑Bonds and Their Intramolecular Exchange

C–C and C–Si σ-bonds are cleaved to undergo bond exchange when substrates equipped with cyclobutanone and silacyclobutane moieties are treated with a palladium(0) catalyst. The skeletal exchange results in construction of silabicyclo[5.2.1]­decanes in a diastereoselective manner