Development of a video-rate range finder using dynamic threshold method for characteristic point detection

This study develops a video-rate stereo range finding circuit to obtain the depth of objects in a scene by processing video signals (R, G, B, and brightness signals) from binocular CCD cameras. The electronic circuit implements a dynamic threshold method to decrease the affect of signal noise in characteristic point detection, where a video signal from each CCD camera is compared with multiple thresholds, shifting dynamically by feeding back the previous comparison result. Several object depth measurement experiments for simple indoor scenes show that the dynamic threshold method gives high acquisition and correct rates of depth data compared with those by a fixed threshold method for the video signals and a relative method for R, G, and B signals utilized in the authors' previous range finders

Mode Selection in the Spontaneous Motion of an Alcohol Droplet

An alcohol (pentanol) droplet exhibits spontaneous agitation on an aqueous solution, driven by a solutal Marangoni effect. We found that the droplet's mode of motion is controlled by its volume. A droplet with a volume of less than $0.1 \mu\rm{l}$ shows irregular translational motion, whereas intermediate-sized droplets of $0.1-200 \mu\rm{l}$ show vectorial motion. When the volume is above $300 \mu\rm{l}$, the droplet splits into smaller drops. These experimental results regarding mode selection are interpreted in terms of the wave number selection depending on the droplet volume.Comment: 4 pages, 5 figure

Regular self-motion of a liquid droplet powered by the chemical marangoni effect

We describe here our recent work on spontaneous regular motion of liquid droplet powered by the chemical Marangoni effect under spatially symmetric conditions. It is shown that a spontaneously crawling oil droplet on a glass substrate with a nonequilibrium chemical condition of cationic surfactant exhibits regular rhythmic motion in a quasi-one-dimensional vessel, whereas irregular motion is induced in a two-dimensionally isotropic environment. Such behavior of a droplet demonstrates that spontaneous regular motion can be generated under fluctuating conditions by imposing an appropriate geometry. As another system, we introduce alcohol droplet moving spontaneously on water surface. The droplet spontaneously forms a specific morphology depending on its volume, causing specific mode of translational motion. An alcohol droplet with a smaller volume floating on water surface moves irregularly. On the other hand, a droplet with a larger volume undergoes vectorial motion accompanied by deformation into an asymmetric shape. This result suggests a scenario on the emergence of regular motion coupled with geometrical pattern formation under far-from-equilibrium conditions

Validation of Platelet Counting Accuracy With the Celltac F Automated Hematology Analyzer

Rapid and accurate analysis of platelet count plays an important role in evaluating hemorrhagic status. Therefore, we evaluated platelet counting performance of a hematology analyzer, Celltac F (MEK-8222, Nihon Kohden Corporation, Tokyo, Japan), that features easy use with low reagent consumption and high throughput while occupying minimal space in the clinical laboratory. All blood samples were anticoagulated with dipotassium ethylenediaminetetraacetic acid (EDTA-2K). The samples were stored at room temperature (18^C–22^C) and tested within 4 hours of phlebotomy. We evaluated the counting ability of the Celltac F hematology analyzer by comparing it with the platelet counts obtained by the flow cytometry method that ISLH and ICSH recommended, and also the manual visual method by Unopette (Becton Dickinson Vacutainer Systems). The ICSH/ISLH reference method is based on the fact that platelets can be stained with monoclonal antibodies to CD41 and/or CD61. The dilution ratio was optimized after the precision, coincidence events, and debris counts were confirmed by the reference method. Good correlation of platelet count between the Celltac F and the ICSH/ISLH reference method (r = 0.99, and the manual visual method (r= 0.93) were obtained. The regressions were y = 0.90 x+9.0 and y=1.11x+8.4, respectively. We conclude that the Celltac F hematology analyzer for platelet counting was well suited to the ICSH/ISLH reference method for rapidness and reliability

Drift instability in the motion of a fluid droplet with a chemically reactive surface driven by Marangoni flow

We theoretically derive the amplitude equations for a self-propelled droplet driven by Marangoni flow. As advective flow driven by surface tension gradient is enhanced, the stationary state becomes unstable and the droplet starts to move. The velocity of the droplet is determined from a cubic nonlinear term in the amplitude equations. The obtained critical point and the characteristic velocity are well supported by numerical simulations.Comment: 9 pages, 4 figure

Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing

This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo rangefinder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference</p

Effect of Cathodal Transcranial Direct Current Stimulation on a Child with Involuntary Movement after Hypoxic Encephalopathy

The aim of the study was to investigate the effect of cathodal transcranial direct current stimulation to the supplementary motor area to inhibit involuntary movements of a child. An 8-year-old boy who developed hypoxic encephalopathy after asphyxia at the age of 2 had difficulty in remaining standing without support because of involuntary movements. He was instructed to remain standing with his plastic ankle-foot orthosis for 10 s at three time points by leaning forward with his forearms on a desk. He received cathodal or sham transcranial direct current stimulation to the supplementary motor area at 1 mA for 10 min. Involuntary movements during standing were measured using an accelerometer attached to his forehead. The low-frequency power of involuntary movements during cathodal transcranial direct current stimulation significantly decreased compared with that during sham stimulation. No adverse effects were observed. Involuntary movement reduction by cathodal stimulation to supplementary motor areas suggests that stimulations modulated the corticobasal ganglia motor circuit. Cathodal stimulation to supplementary motor areas may be effective for reducing involuntary movements and may be safely applied to children with movement disorders