Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter

A wheeled mobile mechanism with a passive and/or active linkage mechanism for traveling in the outdoor environment is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 [m] high bump, which is twice height of the wheel diameter of 0.10 [m], was achieved, and the mobile robot can climb up continuous steps of 0.15 [m] high. In this research, we optimized the mobile robot linkage mechanisms and a controller parameter by evolutionary algorithm and dynamics engine in numerical simulations. The evolutionary algorithm employed in this research is Genetic Algorithm, and Open Dynamics Engine is used for dynamics calculation. To optimize the linkage mechanism and a controller parameter, we investigated outdoor environment for the mobile robot, for example obstacles, steps, and stairs. And, we selected typical three kinds of outdoor environments, 0.20 [m] high bump, right angle stairs of 0.15 [m] high, and angled stairs of 0.15 [m] high. In the numerical simulations, though the mobile robot using parameters which express our existing robot could climb up/down the 0.20 [m] high bump, but it could not achieve climbing up/down the two kinds of stairs. On the other hand, the optimized parameter mobile robot could climb up/down the three kinds of typical environments

Principal Sensitivity Analysis

We present a novel algorithm (Principal Sensitivity Analysis; PSA) to analyze the knowledge of the classifier obtained from supervised machine learning techniques. In particular, we define principal sensitivity map (PSM) as the direction on the input space to which the trained classifier is most sensitive, and use analogously defined k-th PSM to define a basis for the input space. We train neural networks with artificial data and real data, and apply the algorithm to the obtained supervised classifiers. We then visualize the PSMs to demonstrate the PSA's ability to decompose the knowledge acquired by the trained classifiers

ΩΩ\Omega\Omega interaction from 2+1 flavor lattice QCD

We investigate the interaction between $\Omega$ baryons in the $^1S_0$ channel from 2+1 flavor lattice QCD simulations. On the basis of the HAL QCD method, the $\Omega\Omega$ potential is extracted from the Nambu-Bethe-Salpeter wave function calculated on the lattice by using the PACS-CS gauge configurations with the lattice spacing $a\simeq 0.09$ fm, the lattice volume $L\simeq 2.9$ fm and the quark masses corresponding to $m_\pi \simeq 700$ MeV and $m_\Omega \simeq 1970$ MeV. The $\Omega\Omega$ potential has a repulsive core at short distance and an attractive well at intermediate distance. Accordingly, the phase shift obtained from the potential shows moderate attraction at low energies. Our data indicate that the $\Omega\Omega$ system with the present quark masses may appear close to the unitary limit where the scattering length diverges.Comment: 9 pages, 4 figures, 1 tabl

Usefulness of F-18 FDG PET/CT in a Case of Relapsing Polychondritis

Article信州医学雑誌 64(6): 349-355(2016)journal articl

737–1 Heart Fatty Acid-binding Protein and Myoglobin can Accurately Detect Successful Reperfusion as Early as 15 Minutes After Reperfuslon

Human heart fatty acid-binding protein (FABP) is an abundant low molecular weight protein in cytoplasm of myocardial cell similar to myoglobin (Mb). To evaluate whether FABP can also detect successful reperfusion very early like Mb, we examined serum FABP and Mb levels in 45 patients (pts) undergoing PTCR or PTCA within 6 hours after the onset of acute myocardial infarction. Coronary angiography was performed every 5minutes (min) during reperfusion therapy to determine the exact time of reperfusion. In 30 pts with reperfusion (reperfused group: TIMI grade 3 [23 pts] and grade 2 [7 pts]), serum samples were taken just before and at 15, 30 and 60min after initial angiographic confirmation of reperfusion. In 15 pts without reperfusion (nonreperfused group), serum samples were taken just before and at 15, 30 and 60min after the initiation of therapy. FABP was measured by competitive enzyme immunoassay and Mb by latex agglutination turbidimetry. The FABP ratio (FABP after/FABP before) and Mb ratio (Mb after/Mb before) were calculated. FABP and Mb levels increased rapidly, peaked within 60min after reperfusion. The FABP and Mb ratios in the reperfused group significantly (p<0.01) exceeded those in the nonreperfused group at 15, 30 and 60 min. The sensitivity (Sen) and specificity (Spe) of these markers for reperfusion were as follows:Criteria15 min30 min60 minSenSpeSenSpeSenSpeFABP ratio>1.6*93%100%97%100%100%100%Mb ratio>2.4**90%100%93%100%100%100%*mean +2SD at 60 min in the nonreperfused group**published criteriaConclusionFABP, like Mb could accurately detect successful reperfusion as early as 15min after reperfusion and could provide a high level of accuracy within 60min after reperfusion

The absence of SOX2 in the anterior foregut alters the esophagus into trachea and bronchi in both epithelial and mesenchymal components

In the anterior foregut (AFG) of mouse embryos, the transcription factor SOX2 is expressed in the epithelia of the esophagus and proximal branches of respiratory organs comprising the trachea and bronchi, whereas NKX2.1 is expressed only in the epithelia of respiratory organs. Previous studies using hypomorphic Sox2 alleles have indicated that reduced SOX2 expression causes the esophageal epithelium to display some respiratory organ characteristics. In the present study, we produced mouse embryos with AFG-specific SOX2 deficiency. In the absence of SOX2 expression, a single NKX2.1-expressing epithelial tube connected the pharynx and the stomach, and a pair of bronchi developed in the middle of the tube. Expression patterns of NKX2.1 and SOX9 revealed that the anterior and posterior halves of SOX2-deficient AFG epithelial tubes assumed the characteristics of the trachea and bronchus, respectively. In addition, we found that mesenchymal tissues surrounding the SOX2-deficient NKX2.1-expressing epithelial tube changed to those surrounding the trachea and bronchi in the anterior and posterior halves, as indicated by the arrangement of smooth muscle cells and SOX9-expressing cells and by the expression of Wnt4 (esophagus specific), Tbx4 (respiratory organ specific), and Hoxb6 (distal bronchus specific). The impact of mesenchyme-derived signaling on the early stage of AFG epithelial specification has been indicated. Our study demonstrated an opposite trend where epithelial tissue specification causes concordant changes in mesenchymal tissues, indicating a reciprocity of epithelial-mesenchymal interactions

Toward Smart Tomato Greenhouse: The Fourth Tomato Harvesting Robot Competition

Agriculture, one of the most important industries for human life, is faced with serious problems, the shortage of workers, the falling birthrate and the aging population, global warming and natural disasters, etc. Tomato is one of the most important fruit vegetables, and most tomatoes in Japan are cultivated in the greenhouses, or large scale farms as the solution for effective production toward smart greenhouses, whereas the high temperature and high humidity, construction and management costs are big problems and technologies such as environmental control system, factory automation technology, AI, robotics are required. We had held Tomato Harvesting Robot competition from 2014 toward realization of smart tomato greenhouse aiming at promote the automated tomato harvesting to reduce the working time of harvesting. In this paper, we report on the tomato harvesting robot competition and the results mainly from the fourth competition