Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations

A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations

Development of a folding arm on an articulated mobile robot for plant disaster prevention

In this work, we develop a folding arm on an articulated mobile robot to inspect an industrial plant. The design targets of the arm, its operations, measurement ability, and mobility, were set for the task of inspecting an industrial plant. To accomplish the targets, we designed the folding arm considering both accessibility to high locations and the mobility of the articulated mobile robot to which it is attached. The arm has links, joints, dummy wheels, and sensors and enables the robot to which it is attached to manipulate objects, e.g. rotating valves, opening a door, or inspecting by accessing high locations. In addition, changing the posture of the arm and touching the dummy wheel in the arm to the surrounding terrain can reduce any negative effect of the arm on the robot\u27s mobility when it encounters narrow spaces, stairs, steps, and trenches. The arm is controlled as a six degrees-of-freedom manipulator without redundancy by an operator who directly sets two joint angles. The effectiveness of the developed arm was demonstrated not only through experiments in a laboratory but also in a field test at the Plant Disaster Prevention Challenge of the World Robot Summit 2018

Tumor-Infiltrating Lymphocytes and Macrophages as a Significant Prognostic Factor in Biliary Tract Cancer

Background: The impact of tumor-infiltrating lymphocytes (TILs) and tumor-associated macrophages (TAMs) on the prognosis of biliary tract cancer (BTC) is not completely understood. Therefore, in our study, we investigated the effects of the various immune cells infiltration in tumor microenvironment (TME). Methods: A total of 130 patients with BTC who underwent surgical treatment at our institution were enrolled in this study. We retrospectively evaluated TILs and TAMs with immunohistochemical staining. Results: With CD8-high, CD4-high, FOXP3-high, and CD68-low in TME as one factor, we calculated Immunoscore according to the number of factors. The high Immunoscore group showed significantly superior overall survival (OS) and recurrence-free survival (RFS) than the low Immunoscore group (median OS, 60.8 vs. 26.4 months, p = 0.001; median RFS not reached vs. 17.2 months, p \u3c 0.001). Also, high Immunoscore was an independent good prognostic factor for OS and RFS (hazards ratio 2.05 and 2.41 and p = 0.01 and p = 0.001, respectively). Conclusions: High Immunoscore group had significantly superior OS and RFS and was an independent good prognostic factor for OS and RFS

Suppression of osteoclastogenesis via α2-adrenergic receptors

The sympathetic nervous system is known to regulate osteoclast development. However, the involvement of α2-adrenergic receptors (α2-ARs) in osteoclastogenesis is not well understood. In the present study, their potential role in osteoclastogenesis was investigated. Guanabenz, clonidine and xylazine were used as agonists of α2-ARs, while yohimbine and idazoxan were employed as antagonists. Using RAW264.7 pre-osteoclast and primary bone marrow cells, the mRNA expression of the osteoclast-related genes nuclear factor of activated T-cells, cytoplasmic 1 (NFATc1), tartrate-resistant acid phosphatase (TRAP) and cathepsin K was evaluated following induction with receptor activator of nuclear factor κB ligand (RANKL). TRAP staining was also conducted to assess effects on osteoclastogenesis in mouse bone marrow cells in vitro. Administration of 5-20 µM guanabenz (P<0.01, for RANKL-only treatment), 20 µM clonidine (P<0.05, for RANKL-only treatment) and 20 µM xylazine (P<0.05, for RANKL-only treatment) attenuated RANKL-induced upregulation of NFATc1, TRAP and cathepsin K mRNA. Furthermore, the reductions in these mRNAs by 10 µM guanabenz and 20 µM clonidine in the presence of RANKL were attenuated by 20 µM yohimbine or idazoxan (P<0.05). The administration of 5-20 µM guanabenz (P<0.01, for RANKL-only treatment) and 10-20 µM clonidine (P<0.05, for RANKL-only treatment) also decreased the number of TRAP-positive multi-nucleated osteoclasts. Collectively, the present study demonstrates that α2-ARs may be involved in the regulation of osteoclastogenesis

Advanced neoplasms after colonoscopy

This retrospective study aimed to clarify the clinical characteristics of advanced colorectal neoplasms after colonoscopy, likely to have been missed on the previous colonoscopy. We reviewed a total of 5,768 consecutive colonoscopies performed from April 2010 to September 2013 in 4,841 patients, and analyzed advanced colorectal neoplasms after colonoscopy, particularly focusing on their morphological characteristics and locations, as compared with primary lesions, defined as lesions detected in their first colonoscopy or in a subsequent colonoscopy >5 years after the previous one. Of the 5,768 examinations, 922 advanced neoplasms (including 217 cancers with≥T2) were detected, and 167 lesions (18.1%) were diagnosed within 5 years after a previous colonoscopy (post-colonoscopy advanced neoplasms). The incidence of right-sided lesions in the post-colonoscopy advanced neoplasms (48.5%, 81/167) was significantly higher than in the primary lesions (34.0%, 257/755 ; p<0.001). We excluded 217 cancers with≥T2 from the morphological analysis to characterize early-stage post-colonoscopy advanced neoplasms. The incidence of non-polypoid lesions in the post-colonoscopy advanced neoplasms (25.6%, 41/160) was significantly higher than that in the primary lesions (12.3%, 67/545 ; p<0.001). These findings suggest that extra attention should be paid to non-polypoid, right-sided advanced colorectal neoplasms during screening and surveillance colonoscopy

Origin for the enhanced copper spin echo decay rate in the pseudogap regime of the multilayer high-T_c cuprates

We report measurements of the anisotropy of the spin echo decay for the inner layer Cu site of the triple layer cuprate, Hg_0.8Re_0.2Ba_2Ca_2Cu_3O_8 (T_c=126 K) in the pseudogap T regime below T_pg ~ 170 K and the corresponding analysis for their interpretation. As the field alignment is varied, the shape of the decay curve changes from Gaussian (H_0 \parallel c) to single exponential (H_0 \perp c). The latter characterizes the decay caused by the fluctuations of adjacent Cu nuclear spins caused by their interactions with electron spins. The angular dependence of the second moment (T_{2M}^{-2} \equiv ) deduced from the decay curves indicates that T_{2M}^{-2} for H_0 \parallel c, which is identical to T_{2G}^{-2} (T_{2G} is the Gaussian component), is substantially enhanced, as seen in the pseudogap regime of the bilayer systems. Comparison of T_{2M}^{-2} between H_0 \parallel c and H_0 \perp c indicates that this enhancement is caused by electron spin correlations between the inner and the outer CuO_2 layers. These results provide the answer to the long-standing controversy regarding the opposite T dependences of (T_1T)^{-1} and T_{2G}^{-2} in the pseudogap regime of bi- and trilayer systems.Comment: 4 pages, 4 figure

サイトカイン誘発好中球化学誘引物質の発現はTNFα発現を抑制することにより卵胞の閉鎖およびアポトーシスから回避させる

Aim: Cytokine-induced neutrophil chemoattractant (CINC/gro) is a CXC family chemokine, similar to interleukin-8 in rats, and is one of the factors that regulates ovulation. However, the mechanism that regulates atresia of the ovaries postovulation is not clearly defined. Methods: Whether antibody-blocking of CINC/gro can alter the number of ovulated oocytes and modulate neutrophil infiltration was investigated. The effect of the antibody on the level of inflammatory cytokine production and follicular atresia was examined. Apoptosis was measured by the terminal deoxynucleotidyl transferase-mediated dUTP nick end labeling (TUNEL) method and via analysis of the messenger RNA expression of Bcl-2 and Bcl2-associated X (Bax). Results: The anti-CINC/gro antibody treatment decreased the number of ovulated oocytes. The messenger RNA levels of cyclooxygenase-2 and interleukin-1 beta were decreased by the antibody treatment, whereas that of tumor necrosis factor (TNF) alpha was increased. The TUNEL analysis revealed a larger number of apoptotic cells in the antibody group, compared with those in the control group, as well as a significant increase in the Bax/Bcl-2 ratio 24 hours after human chorionic gonadotropin administration. Conclusion: These findings suggest that ovulation is accelerated by neutrophil infiltration into the theca layer. The CINC/gro appears to synergize with interleukin-1 beta for ovulation. By contrast, the data suggest that CINC/gro expression suppresses TNF alpha expression and that CINC/gro expression therefore prevents the follicles from undergoing atresia and apoptosis

Activation of Intestinal Human Pregnane X Receptor Protects against Azoxymethane/Dextran Sulfate Sodium-Induced Colon Cancer s

ABSTRACT The role of intestinal human pregnane X receptor (PXR) in colon cancer was determined through investigation of the chemopreventive role of rifaximin, a specific agonist of intestinal human PXR, toward azoxymethane (AOM)/dextran sulfate sodium (DSS)-induced colon cancer. Rifaximin treatment significantly decreased the number of colon tumors induced by AOM/DSS treatment in PXR-humanized mice, but not wild-type or Pxr-null mice. Additionally, rifaximin treatment markedly increased the survival rate of PXR-humanized mice, but not wild-type or Pxr-null mice. These data indicated a human PXR-dependent therapeutic chemoprevention of rifaximin toward AOM/DSS-induced colon cancer. Nuclear factor k-light-chain-enhancer of activated B cells-mediated inflammatory signaling was upregulated in AOM/DSS-treated mice, and inhibited by rifaximin in PXRhumanized mice. Cell proliferation and apoptosis were also modulated by rifaximin treatment in the AOM/DSS model. In vitro cell-based assays further revealed that rifaximin regulated cell apoptosis and cell cycle in a human PXR-dependent manner. These results suggested that specific activation of intestinal human PXR exhibited a chemopreventive role toward AOM/DSS-induced colon cancer by mediating anti-inflammation, antiproliferation, and proapoptotic events

Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed