340 research outputs found

    Design and Control of Delta: Deformable Multilinked Multirotor with Rolling Locomotion Ability in Terrestrial Domain

    Full text link
    In recent years, multiple types of locomotion methods for robots have been developed and enabled to adapt to multiple domains. In particular, aerial robots are useful for exploration in several situations, taking advantage of its three-dimensional mobility. Moreover, some aerial robots have achieved manipulation tasks in the air. However, energy consumption for flight is large and thus locomotion ability on the ground is also necessary for aerial robots to do tasks for long time. Therefore, in this work, we aim to develop deformable multirotor robot capable of rolling movement with its entire body and achieve motions on the ground and in the air. In this paper, we first describe the design methodology of a deformable multilinked air-ground hybrid multirotor. We also introduce its mechanical design and rotor configuration based on control stability. Then, thrust control method for locomotion in air and ground domains is described. Finally, we show the implemented prototype of the proposed robot and evaluate through experiments in air and terrestrial domains. To the best of our knowledge, this is the first time to achieve the rolling locomotion by multilink structured mutltrotor.Comment: 8 pages, 15 figure

    Effective Single Twymeeg Administration for Elderly Patient with Type 2 Diabetes (T2D), Arthralgia and Depression as Common Medical Problems

    Get PDF
    Background: Imeglimin (Twymeeg) has been effective for patients with type 2 diabetes (T2D). Case Presentation: The patient is an 82-year-old female with T2D, arthralgia, and depression. Results: She was given duloxetine hydrochloride (Cymbalta) and Twymeeg, leading to improved symptoms of low back pain (LBP), knee osteoarthritis, osteoporosis, depression, and possible mild cognitive impairment (MCI). HbA1c decreased from 8.8% to 7.1% for 4 months with a single administration of Twymeeg 2000mg/day. Discussion: In recent clinical practice, elderly cases often tend to have simultaneously these problems, which are medical and social crucial problems. Twymeeg and Cymbalta may be indispensable agents for future practice

    Elderly Female of Type 2 Diabetes (T2D) and Dementia with Clinical Improvement by Imeglimin (Twymeeg)

    Get PDF
    Background: Recent diabetic focus includes imeglimin (Twymeeg). Case Presentation: The case was an 83-year-old female with 19 years of type 2 diabetes (T2D) associated with recent treatment for dementia. Result: HbA1c decreased from 10.0% to 6.6% for 4 months by Twymeeg 2000 mg/day. For neuropsychiatric symptoms in dementia, memantine and tiapride were provided and controlled. Furthermore, zinc acetate hydrate (Novelzin) was continued for T2D and dementia. Discussion and Conclusion: Twymeeg administration was effective as the results of Trials of IMeglimin for Efficacy and Safety (TIMES) 2 and 3. Perspectives on the efficacy of zinc were discussed including Alzheimer's-Plus with low zinc (APLZ)

    Clinical Efficacy of Imeglimin (Twymeeg) for Elderly Patient with Type 2 Diabetes Mellitus (T2DM)

    Get PDF
    Background: As an oral hypoglycaemic agent (OHA), imeglimin (Twymeeg) has been recently introduced to clinical practice for patients with type 2 diabetes mellitus (T2DM) as Twymeeg. It has beneficial pharmacological mechanisms, which are improving insulin secretion, increasing insulin sensitivity, and decreasing insulin resistance. Case Presentation: The case is 84-year-old man with mild cognitive impairment (MCI) for 3 years. He visited late August, 2021 our clinic for general malaise and was pointed out to have post-prandial blood glucose 336 mg/dL and HbA1c 8.6%. He was diagnosed with T2DM. Results: He was started to be given imeglimin 1000mg twice a day, and then HbA1c value was decreased to 7.3% in 4 weeks and 5.7% in 8 weeks. During 9-12 weeks, he felt loss of appetite and reduced food intake. Biochemical examination on 12 weeks showed decreased values of TP, Alb, HbA1c, glucose, free T3, and normal values of TSH, free T4. Doses of imeglimin were 500 mg twice a day for 9-12 weeks and discontinued after 12 weeks. Discussion: Regarding appetite loss, possible causes may include MCI, previous history of gallbladder dyskinesia, adverse effect of imeglimin, and so on. Further development of research will be expected for imeglimin in the future

    Design and Control of a Small Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion

    Full text link
    Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the locomotion domain to the air by utilizing thrust for propulsion. In this paper, we first describe an optimized construction method for a humanoid robot equipped with wheels and a flight unit to achieve these abilities. Then, we describe the integrated control framework of the proposed flying humanoid for each locomotion mode: aerial, legged, and wheeled locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the proposed robot platform. To the best of our knowledge, this is the first time that a single humanoid has simultaneously achieved three different types of locomotion, including flight.Comment: 8 pages, 17 figures. Accepted by IEEE Robotics and Automation Letter

    Field-orientation dependence of quantum phase transitions in the S=1/2 triangular-lattice antiferromagnet Ba3_3CoSb2_2O9_9

    Full text link
    Ba3_3CoSb2_2O9_9 approximates the two-dimensional spin-1/2 triangular-lattice Heisenberg antiferromagnet. This compound displays magnetic-field-induced quantum phase transitions, including the 1/3-magnetization-plateau, but its magnetization processes for the magnetic field HH parallel and perpendicular to the cc axis are different due to the weak easy-plane anisotropy and the weak interlayer antiferromagnetic exchange interaction. To elucidate how the quantum phase transitions change between these two field directions, we measured the field-angle dependence of the magnetization process in Ba3_3CoSb2_2O9_9 using pulsed high magnetic fields. We compared obtained magnetic field-field angle phase diagram with those obtained by the large-size cluster mean-field method combined with a scaling scheme and the semiclassical theory. We also found a narrow 1/3-magnetization plateau and a high-field transition with a small magnetization jump for H ∥ cH\,{\parallel}\,c, not observed in the previous studies.Comment: 8 pages, 7 figures, to appear in Phys. Rev.

    Gamergate controls dopamine levels of workers in <i>Diacamma</i> sp.

    Get PDF
    Introdução: O climatério representa uma fase de mudança e de transição no ciclo de vida feminino, durante o qual as mulheres experimentam alterações físicas e psicológicas decorrentes do hipoestrogenismo e envelhecimento. O Médico de Família é habitualmente o primeiro profissional de saúde a quem a mulher recorre para esclarecer as suas dúvidas e solicitar o alívio da sintomatologia climatérica, ocupando uma posição privilegiada para promover a capacitação e empowerment das utentes. Métodos: Promoveu-se um estudo observacional transversal, aplicando um questionário de auto-preenchimento a 92 mulheres, com idades compreendidas entre os 40 e os 60 anos, que frequentam os Centros de Saúde Norton de Matos e S. Martinho do Bispo (USF Mondego), de forma a avaliar a abordagem da menopausa nos Cuidados de Saúde Primários. A recolha dos dados decorreu de abril a julho de 2014. O tratamento estatístico foi efetuado através da plataforma estatística IBM SPSS v21.0. Resultados: Mais de metade das mulheres (55,4%) referiu ter conversado com o Médico de Família sobre a menopausa e todos os assuntos relacionados, todavia 19,6% ainda manifestavam dúvidas. O médico foi considerado a principal fonte de informação para 50% das inquiridas. A maioria das mulheres (77,2%) descreveu a presença de sintomas climatéricos, sendo os mais frequentes as dores ósseas (73,2%) e a ansiedade (67,6%). 39,1% das inquiridas indicaram a interferência do climatério na sua vida diária, sendo a vida familiar (69,4%) e a sexual (58,3%) as mais afetadas. Verificou-se uma associação significativa entre a presença de sintomas e a interferência do climatério na vida diária e na qualidade de vida da mulher. As mulheres sintomáticas (OR=12,983 com IC95% [2,808;60,033]) e as que referiram a interferência do climatério no dia a dia (OR=5,965 com IC95% [2,364;15,048]) apresentaram uma probabilidade aumentada de recorrer a consultas de Medicina Geral e Familiar. As infeções urinárias de repetição (91,7%) foram as queixas que mais motivaram a ida ao Médico de Família. Das mulheres sintomáticas, 45,1% referiram ter cuidados adicionais ou fazer algum tratamento. A terapêutica hormonal revelou-se a mais eficaz no alívio das queixas, tendo como prescritor mais frequente o Ginecologista (58,3%). Conclusão: O Médico de Família assume um papel crucial na capacitação e acompanhamento da mulher climatérica. Constatou-se que ainda permanecem dúvidas que necessitam de ser esclarecidas e que são necessárias normas que uniformizem a abordagem da menopausa na prática clínica.Introduction: The climacteric represents a time of change and transition in the female life cycle, during which women experience physical and psychological changes resulting from hypoestrogenism and aging. The general practitioner is usually the first health professional to whom a woman appeals to clarify her doubts and request relief from climacteric symptoms, occupying a privileged position to promote capacity building and empowerment of patients. Methods: It was promoted a cross-sectional observational study, applying a self-completion questionnaire to 92 women, aged between 40 and 60 years, who attend the health centers of Norton de Matos and S. Martinho do Bispo (USF Mondego), in order to evaluate the approach of menopause in Primary Health Care. Data collection took place from April to July 2014. The statistical analysis was performed by the statistical platform IBM SPSS v21.0. Results: More than half of women (55.4%) said they had talked to the general practitioner about menopause and all the related subjects, however 19.6% still had doubts. The doctor was considered the main source of information for 50% of the surveyed women. Most women (77.2%) described the presence of menopausal symptoms, the most common being bone pain (73.2%) and anxiety (67.6%). 39.1% of the surveyed indicated the interference of the climacteric in their everyday life, being the family life (69.4%) and the sexual life (58.3%) the most affected. There was a significant association between the presence of symptoms of menopause and the interference of the climacteric in daily life and quality of life. Symptomatic women (OR = 12.983 with 95% CI [2.808, 60.033]) and those who mentioned the interference of the climacteric in daily life (OR = 5.965 95% CI [2.364, 15.048]) had an increased likelihood of appealing to a general practitioner. Recurrent urinary tract infections (91.7%) were complaints that most commonly lead going to the general practitioner. Of symptomatic women, 45.1% said having additional care or getting some treatment. Hormone therapy proved more effective in relieving complaints, having the gynecologist as the most frequent prescriber (58.3%). Conclusion: The general practitioner plays a key role in the capacity building and monitoring of the climacteric woman. It was found that there are still questions that need to be clarified and that standards are necessary to standardize the approach of menopause in clinical practice
    • …
    corecore