発見的手法を用いた多自由度マニピュレータの軌道決定

金沢大学大学院自然科学研究科金沢大学医薬保健研究域薬学系This paper proposes a method to determine a trajectory with suppressed dynamic torque for a multi-DOF manipulator by a heuristic algorithm. Generally, optimization for a trajectory considering dynamic property of a multi-DOF manipulator is difficult since it has nonlinear and multi-peak characteristics. Although a lot of studies proposed the methods to optimize its trajectory, they often need complicated operation and calculation. Those methods are not always adapted to actual multi- DOF manipulators. Thus, a practical method using a heuristic algorithm that does not need complicated mathematical calculations is presented. In this paper, we aim to suppress required torques of the input joints of a manipulator in the solution. As a case study, we apply the method to an actual steel sheet handling manipulator over 1 500 kg in weighs with 5-DOF. From the experimental result, it is found to be effective to determine the trajectory with suppressed torques of the input joints for the manipulator maintaining the required working conditions

Mesoscopic Multimodal Imaging Provides New Insight to Tumor Tissue Evaluation : An Example of Macrophage Imaging of Hepatic Tumor using Organosilica Nanoparticles

Multimodal imaging using novel multifunctional nanoparticles provides new approach to biomedical field. Thiol-organosilica nanoparticles containing iron oxide magnetic nanoparticles (MNPs) and rhodamine B (thiol OS-MNP/Rho) were applied to multimodal imaging of hepatic tumor of Long−Evans Cinnamon (LEC) rat. The magnetic resonance imaging (MRI) of LEC rats revealed tumors in the liver clearly and semi-quantitatively due to a labeling of macrophages in liver. The fluorescent imaging (FI) showed abnormal fluorescent patterns of the liver at the mesoscopic level that was between macroscopic and microscopic level. We performed correlation analysis between optical imaging including FI and MRI. We found that the labeled macrophages located specific area in the tumor tissue and influenced the tumor size on MRI. In addition histological observation showed the labeled macrophages related specific tissue in the pathological region. We demonstrated a new approach to evaluate tumor tissue at the macroscopic and microscopic level as well as mesoscopic level using multimodal imaging

Method for determining the power-saved driving motion of manipulators by heuristic algorithms (In case of CP control)

This study proposes a method for suppressing the torques of the manipulators, with considering the effect of inertial forces in order to achieve the power-saved drive. The present study generates the trajectories, which here reveal time profiles of positions, velocities and accelerations of the entire path of the output point of manipulators. The trajectories of manipulators are introduced by determining both the initial position and motion curves for the entire path. This study expresses the motion curve as a polynomial and determines its coefficients. The initial pose and unknown coefficients are decided by a heuristic algorithm to achieve power-saved drive. As such problems have non-linearity and multi-peak solutions, it is difficult to find out the optimum one. Thus, this study uses a heuristic algorithm "SHA" to determine the appropriate motions of manipulators, because the heuristic algorithm is, as well known, an effective solution for such complicated problem. This study determines the optimal motions of the PUMA560 comprising spatial 3 degrees-of-freedom by the proposed method, and verifies its availability

Kinematics of SiO J=8-7 Emission towards the HH 212 Jet

We present SiO J=8-7 (347.3 GHz) observations towards HH 212 using the ASTE telescope. Our observations with a 22''-diameter beam show that the SiO emission is highly concentrated within 1' of the driving source. We carefully compare the SiO observations with archival H_2 1-0 S(1) images and published H_2 echelle spectra. We find that, although the SiO velocities closely match the radial velocities seen in H_2, the distribution of H_2 and SiO emission differ markedly. We attribute the latter to the different excitation conditions required for H_2 and SiO emission, particularly the higher critical density (n_H2 ~10^8 cm^-3) of the SiO J=8-7 emission. The kinematic similarities imply that the H_2 and SiO are associated with the same internal working surfaces. We conclude that the SiO J=8-7 emission has a potential to probe the jet/wind launching region through interferometric observations in the future, particularly for the youngest, most deeply embedded protostars where IR observations are not possible.Comment: 6 pages, 4 figures, accepted to PAS

Is FS Tau B Driving an Asymmetric Jet?

FS Tau B is one of the few T Tauri stars that possess a jet and a counterjet as well as an optically-visible cavity wall. We obtained images and spectra of its jet-cavity system in the near-infrared H and K bands using Subaru/IRCS and detected the jet and the counterjet in the [Fe II] 1.644 \mu m line for the first time. Within the inner 2" the blueshifted jet is brighter, whereas beyond ~ 5" the redshifted counterjet dominates the [Fe II] emission. The innermost blueshifted knot is spectrally resolved to have a large line width of ~ 110 km/s, while the innermost redshifted knot appears spectrally unresolved. The velocity ratio of the jet to the counterjet is ~ 1.34, which suggests that FS Tau B is driving an asymmetric jet, similar to those found in several T Tauri Stars. Combining with optical observations in the literature, we showed that the blueshifted jet has lower density and higher excitation than the redshifted counterjet. We suggest that the asymmetry in brightness and velocity is the manifestation of a bipolar outflow driving at different mass-loss rates, while maintaining balance of linear momentum. A full explanation to the asymmetry in the FS Tau B system awaits detail modeling and further investigation of the kinematic structure of the wind-associated cavity walls.Comment: 14 pages, 2 figures, 1 table; accepted for publication in ApJ. Aspect ratio changes for Fig.1

A case of congenital unilateral partial absence of fallopian tube

Congenital partial absence of a fallopian tube has rarely been reported in the literature. A 29-year-old nulligravida woman presented with a two-year history of infertility. Hysterosalpingography revealed an obstructed left fallopian tube with a normal uterine cavity and right fallopian tube. After several AIH treatments, diagnostic laparoscopy was performed, revealing segmental absence of the mid portion of the left fallopian tube. Only a 1-cm stump of the left fallopian tube remained, the majority of the isthmic portion was absent. A 3-cm distal ampullary portion with normal-appearing fimbria was attached to the left pelvic sidewall near the pelvic brim. No other abnormal findings were observed for the uterus, right fallopian tube, and ligaments surrounding the uterus. There are two possible etiologies of partial absence of the fallopian tube:congenital absence associated with developmental alterations of the Müllerian ducts or asymptomatic torsion followed by autoamputation and reabsorption