Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing

Feasibility of a simple method to detect step height, slope angle, and trench width using four infrared-light-source PSD range sensors is examined, and the reproducibility and accuracy of characteristic parameter detection are also examined. Detection error of upward slope angle is within 2.5 degrees, while it is shown that the detection error of downward slope angle exceeding 20 degrees is very large. In order to reduce such errors, a method to improve range-voltage performance of a range sensor is proposed, and its availability is demonstrated. We also show that increase in trial frequency is a better way, although so as not to increase the detection delay. Step height is identified with an error of ±1.5 mm. It is shown that trench width cannot be reliably measured at this time. It is suggested that an additional method is needed if we have to advance the field of obstacle detection

Simultaneous Determination of Raltegravir, Dolutegravir, Elvitegravir, and Bictegravir in Human Plasma Using High-performance Liquid Chromatography-tandem Mass Spectrometry

In this study, a highly sensitive method to simultaneously quantify the integrase strand transfer inhibitors （INSTIs） raltegravir, dolutegravir, elvitegravir, and bictegravir, which are recommended drugs in the HIV treatment guidelines, was established using liquid chromatography–tandem mass spectrometry （LC-MS/MS）. Raltegravir-d3 was used as the internal standard substance. The plasma samples were deproteinized with methanol and analyzed by LC-MS/MS. Chromatographic separation was performed using the gradient method with a mobile phase A （20mmol/l ammonium formate - water） and mobile phase B （20mmol/l ammonium formate - methanol）. In addition, an InertSustain C18 column （3µm, 100×2.1mm）, a flow rate of 0.45ml/min, and a measurement time of 10 minutes were used. The calibration curve showed linearity （r2＞0.9904） within the range of 0.5-1,250ng/ml, and the limit of quantification was 0.5ng/ml for all drugs. The mean intra- and inter-day accuracy was 99.6％±7.2％ and 101.0％±5.0％, respectively, and the coefficient of variation （CV） was ≤18.5％ and ≤10.3％, respectively. This method enables the highly sensitive simultaneous analysis of INSTIs and is useful for confirming the efficacy and safety of drugs in clinical practice

The Dry Matter Yield and Nutritive Value of Wet Tolerant Tropical Forage Legumes in Single Cropping or Mixed Cropping with Gramineous Forage Crops in Drained Paddy Field

In Japan the production of rice has been controlled since the 1970\u27s and some parts of the paddy fields have been laid off for forage production. However, in poorly-drained fields or fields with high ground water table, forage species with high tolerance of wet conditions are required. The tropical forage legumes Aeschynomene americana cv. Glenn (Glenn) and Macroptilium lathyroides (L.) Urb. cv. Murray (phasey bean) have a high wet endurance (Bishop et al., 1985; Tobisa et al., 1999) and show high dry matter productivity (Skerman et al., 1988; Tobisa et al., 1999). The objective of this experiment was to evaluate the dry matter yield and nutritive value of Glenn and phasey bean in single cropping or mixed cropping with gramineous forage crops in drained paddy fields

Root Distribution and Nitrogen Fixation Activity of Tropical Forage Legume American Jointvetch ( Aeschynomene americana

We investigated the root distribution and nitrogen fixation activity of American jointvetch (Aeschynomene americana L.) cv. Glenn, under waterlogging treatment. The plants were grown in pots under three different treatments: no waterlogging (control), 30 days of waterlogging (experiment 1), and 40 days of waterlogging (experiment 2). The plants were subjected to the treatments on day 14 after germination. Root dry matter (DM) weight distribution of waterlogged plants was shallower than controls after day 20 of waterlogging. Throughout the study period, the total root DM weight in waterlogged plants was similar to that in the controls. Enhanced rooting (adventitious roots) and nodule formation at the stem base were observed in waterlogged plants after day 20 of waterlogging. The average DM weight of individual nodules on the region of the stem between the soil surface and water surface of waterlogged plants was similar to that of individual taproot nodules in the controls. Waterlogged plants had slightly greater plant DM weight than the controls after 40 days of treatment. The total nitrogenase activity (TNA) of nodules and nodule DM weight were higher in waterlogged plants than in the controls. Waterlogged American jointvetch had roots with nodules both around the soil surface and in the area between the soil surface and water surface after 20 days of waterlogging, and they maintained high nitrogenase activity and net assimilation rate that resulted in an increased growth rate

Experimental Investigation of Obstacle-Avoiding Mobile Robots without Image Processing

A simple method to detect step height, slope angle and trench width using four PSD range sensors (GP2D12) is proposed, and the reproducibility and accuracy of characteristic parameter detection are examined. The detection error of upward slope angle is within 2.5 degrees, while that of downward slope angle exceeded 20 degrees very large. In order to reduce such errors, a range sensor that has better range-voltage performance must be introduced, or we will have to increase trial frequency to prevent detection delay. Step height can be identified with an error off ± 1.5mm. Trench width cannot be reliably measured at this time. It is suggested that an additional method is needed if we are to advance the field of obstacle detection.ELECTRICAL AND ELECTRONIC ENGINEERING, 50th anniversary editio