Preleukemia: hematological disorders prior to onset of leukemia

Published data on Japanese leukemia patients with a preleukemic hematological disorder were assessed. The reexamined cases were from the &#34;Japona Centra Revuo Medicina&#34; reported during the period from 1952 to 1971. Among preleukemic hematological disorders, hypoplastic anemia was the most frequently reported (41 of 62 cases). These &#34;hypoplastic preleukemia&#34; patients were rather elderly and terminated mostly in atypical myelocytic leukemia. The chief hematological feature of the hypoplastic preleukemia cases was the coexistence of a relative erythroid hyperplasia and a slight increase of myeloblasts in the bone marrow that was unusual in hypoplastic anemia. The presence of pancytopenia and hypocellular marrow with a relative erythroid hyperplasia combined with a slight increase of myeloblasts probably indicates hypoplastic preleukemia that terminates later in acute leukemia.</p

Preliminary studies of a second generation brachiation robot controller

We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape\u27s brachiation, we encode this task as the output of a target dynamical system . Numerical simulations indicate that the resulting controller solves a number of brachiating problems that we term the ladder , swing up and rope problems. Preliminary analysis provides some explanation for this success. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach

Brachiation on a Ladder with Irregular Intervals

We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a target dynamics controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handholds. Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization

Experimental Implementation of a Target Dynamics Controller on a Two-link Brachiating Robot

We report on our recent empirical success in the study of a two-link brachiating robot. The target dynamics controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy

A Hybrid Swing up Controller for a Two-link Brachiating Robot

In this paper, we report on a hybrid scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous target dynamics controller and a mechanical energy regulator are combined. The proposed controller guarantees the boundedness of the total energy of the system. Simulations suggest that this hybrid controller achieves much better regulation of the desired swing motion than the target dynamics method by itself

A Brachiating Robot Controller

We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape\u27s brachiation, we encode this task as the output of a target dynamical system. Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the ladder, swing-up, and rope problems. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including swing locomotion and swing up and is capable of continuous locomotion over several rungs of a ladder. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach