Gait-Behavior Optimization Considering Arm Swing and Toe Mechanisms for Biped Robot on Rough Road

芝浦工業大学2019年

A Study of Automatic Pineapple Leaf Fibre Extraction Machine Using Bidirectional Rolling Mechanism

Pineapple leaf fibres are well known around the world due to the good material properties when woven together and environment friendly. Nevertheless, it takes a lot of effort and time to extract the fibres from the pineapple leaves. Consequently, various machines have been constructed around the world to automate this process, which has helped save time and increased the output productivity remarkably. This paper proposed a novel design of the automatic pineapple leaf fibre extraction machine using bidirectional rolling mechanism. The proposed mechanism will improve the efficiency of the pineapple leaf fibre extraction process that simultaneously enhances the quality of the output fibres. 

Obscurant and Radiation Characteristics of Infrared Screening Smoke Composition Based on Red Phosphorus

Red phosphorus-based camouflage compositions are often used on naval ships to counter anti-ship missiles. This work focused on investigating the obscurant and infrared radiation characteristics of infrared-screening smoke of pyrotechnic compositions based on red phosphorus, Mg-Al alloy, barium nitrate and Viton A rubber. The results demonstrated that the smoke clouds of the formulation based on red phosphorus and Mg-Al alloy have a high attenuation capability to 1.064 µm laser radiation. Besides, these smokescreens also have a better emission power in the wavelength range of 2.5-5 and 8-14 µm. Therefore, the smoke compositions based on red phosphorus and Mg-Al alloy can be used in camouflage devices on naval ships against infrared and laser-guided missiles

Optimal Design of V-Shaped Fin Heat Sink for Active Antenna Unit of 5G Base Station

The active antenna unit (AAU) is one of the main parts of the 5G base station, which has a large size and a high density of chipsets, and operates at a significantly high temperature. This systematic study presents an optimal design for the heat sink of an AAU with a V-shaped fin arrangement. First, a simulation of the heat dissipation was conducted on two designs of the heat sink – in-line and V-shaped fins – which was validated by experimental results. The result shows that the heat sink with V-shaped fins performed better compared to conventional models such as heat sinks with in-line fins. Secondly, computational fluid dynamics (CFD) and the Lagrange interpolation method were applied to find out an optimal set of design parameters for the heat sink. It is worth noting that the optimal parameters of the orientation angle and fin spacing considerably affected the heat sink’s performance.  

Optimal Design of V-Shaped Fin Heat Sink for Active Antenna Unit of 5G Base Station

The active antenna unit (AAU) is one of the main parts of the 5G base station, which has a large size and a high density of chipsets, and operates at a significantly high temperature. This systematic study presents an optimal design for the heat sink of an AAU with a V-shaped fin arrangement. First, a simulation of the heat dissipation was conducted on two designs of the heat sink – in-line and V-shaped fins – which was validated by experimental results. The result shows that the heat sink with V-shaped fins performed better compared to conventional models such as heat sinks with in-line fins. Secondly, computational fluid dynamics (CFD) and the Lagrange interpolation method were applied to find out an optimal set of design parameters for the heat sink. It is worth noting that the optimal parameters of the orientation angle and fin spacing considerably affected the heat sink’s performance.  

Comparison of a new multiplex real-time PCR with the Kato Katz thick smear and copro-antigen ELISA for the detection and differentiation of Taenia spp. in human stools

Background : Taenia solium, the cause of neurocysticercosis (NCC), has significant socioeconomic impacts on communities in developing countries. This disease, along with taeniasis is estimated to infect 2.5 to 5 million people globally. Control of T. solium NCC necessitates accurate diagnosis and treatment of T. solium taeniasis carriers. In areas where all three species of Taenia tapeworms (T. solium, Taenia saginata and Taenia asiatica) occur sympatrically, conventional microscope-and copro-antigen based diagnostic methods are unable to distinguish between these three Taenia species. Molecular diagnostic tools have been developed to overcome this limitation; however, conventional PCR-based techniques remain unsuitable for large-scale deployment in community-based surveys. Moreover, a real-time PCR (qPCR) for the discrimination of all three species of Taenia in human stool does not exist. This study describes the development and validation of a new triplex Taq-Man probe-based qPCR for the detection and discrimination of all three Taenia human tapeworms in human stools collected from communities in the Central Highlands of Vietnam. The diagnostic characteristics of the test are compared with conventional Kato Katz (KK) thick smear and copro-antigen ELISA (cAgELISA) method utilizing fecal samples from a community based cross-sectional study. Using this new multiplex real-time PCR we provide an estimate of the true prevalence of taeniasis in the source population for the community based cross-sectional study. Methodology/Principal findings : Primers and TaqMan probes for the specific amplification of T. solium, T. saginata and T. asiatica were designed and successfully optimized to target the internal transcribed spacer I (ITS-1) gene of T. solium and the cytochrome oxidase subunit I (COX-1) gene of T. saginata and T. asiatica. The newly designed triplex qPCR (T3qPCR) was compared to KK and cAgELISA for the detection of Taenia eggs in stool samples collected from 342 individuals in Dak Lak province, Central Highlands of Vietnam. The overall apparent prevalence of taeniasis in Dak Lak province was 6.72% (95% confidence interval (CI) [3.94-9.50]) in which T. solium accounted for 1.17% (95% CI [0.37-3.17]), according to the T3qPCR. There was sympatric presence of T. solium, T. saginata and T. asiatica. The T3qPCR proved superior to KK and cAgELISA for the detection and differentiation of Taenia species in human feces. Diagnostic sensitivities of 0.94 (95% credible interval (CrI) [0.88-0.98]), 0.82 (95% CrI [0.58-0.95]) and 0.52 (95% CrI [0.07-0.94]), and diagnostic specificities of 0.98 (95% CrI [0.94-1.00]), 0.91 (95% CrI [0.85-0.96]) and 0.99 (95% CrI [0.96-1.00]) were estimated for the diagnosis of taeniasis for the T3qPCR, cAgELISA and KK thick smear in this study, respectively. Conclusions : T3qPCR is not only superior to the KK thick smear and cAgELISA in terms of diagnostic sensitivity and specificity, but it also has the advantage of discriminating between species of Taenia eggs in stools. Application of this newly developed T3qPCR has identified the existence of all three human Taenia tapeworms in Dak Lak province and proves for the first time, the existence of T. asiatica in the Central Highlands and the south of Vietnam

A NEW HYBRID FUZZY TIME SERIES FORECASTING MODEL BASED ON COMBINING FUZZY C-MEANS CLUSTERING AND PARTICLE SWAM OPTIMIZATION

Fuzzy time series (FTS) model is one of the effective tools that can be used to identify factors in order to solve the complex process and uncertainty. Nowadays, it has been widely used in many forecasting problems. However, establishing effective fuzzy relationships groups, finding proper length of each interval, and building defuzzification rule are three issues that exist in FTS model. Therefore, in this paper, a novel FTS forecasting model based on fuzzy C-means (FCM) clustering and particle swarm optimization (PSO) was developed to enhance the forecasting accuracy. Firstly, the FCM clustering is used to divide the historical data into intervals with different lengths. After generating interval, the historical data is fuzzified into fuzzy sets. Following, fuzzy relationship groups were established based on the appearance history of the fuzzy sets on the right-hand side of the fuzzy logical relationships with the aim to serve for calculating the forecasting output.  Finally, the proposed model combined with PSO algorithm was applied to adjust interval lengths and find proper intervals in the universe of discourse for obtaining the best forecasting accuracy. To verify the effectiveness of the forecasting model, three numerical datasets (enrolments data of the University of Alabama, the Taiwan futures exchange –TAIFEX data and yearly deaths in car road accidents in Belgium) are selected to illustrate the proposed model. The experimental results indicate that the proposed model is better than any existing forecasting models in term of forecasting accuracy based on the first – order and high-order FTS

Lovastatin for adult patients with dengue: protocol for a randomised controlled trial.

BACKGROUND: Dengue is the most important vector-borne viral infection of man, with approximately 2 billion people living in areas at risk. Infection results in a range of manifestations from asymptomatic infection through to life-threatening shock and haemorrhage. One of the hallmarks of severe dengue is vascular endothelial disruption. There is currently no specific therapy and clinical management is limited to supportive care. Statins are a class of drug initially developed for lipid lowering. There has been considerable recent interest in their effects beyond lipid lowering. These include anti-inflammatory effects at the endothelium. In addition, it is possible that lovastatin may have an anti-viral effect against dengue. Observational data suggest that the use of statins may improve outcomes for such conditions as sepsis and pneumonia. This paper describes the protocol for a randomised controlled trial investigating a short course of lovastatin therapy in adult patients with dengue. METHODS/DESIGN: A randomised, double-blind, placebo-controlled trial will investigate the effects of lovastatin therapy in the treatment of dengue. The trial will be conducted in two phases with an escalation of dose between phases if an interim safety review is satisfactory. This is an exploratory study focusing on safety and there are no data on which to base a sample size calculation. A target sample size of 300 patients in the second phase, enrolled over two dengue seasons, was chosen based on clinical judgement and feasibility considerations. In a previous randomised trial in dengue, about 10% and 30% of patients experienced at least one serious adverse event or adverse event, respectively. With 300 patients, we will have 80% power to detect an increase of 12% (from 10% to 22%) or 16% (from 30% to 46%) in the frequency of adverse events. Furthermore, this sample size ensures some power to explore the efficacy of statins. DISCUSSION: The development of a dengue therapeutic that can attenuate disease would be an enormous advance in global health. The favourable effects of statins on the endothelium, their good safety profile and their low cost make lovastatin an attractive therapeutic candidate. TRIAL REGISTRATION: International Standard Randomised Controlled Trial Number ISRCTN03147572

Applying Improve Differential Evolution Algorithm for Solving Gait Generation Problem of Humanoid Robots

This chapter addresses an approach to generate 3D gait for humanoid robots. The proposed method considers gait generation matter as optimization problem with constraints. Firstly, trigonometric function is used to produce trial gait data for conducting simulation. By collecting the result, we build an approximation model to predict final status of the robot in locomotion, and construct optimization problem with constraints. In next step, we apply an improve differential evolution algorithm with Gauss distribution for solving optimization problem and achieve better gait data for the robot. This approach is validated using Kondo robot in a simulated dynamic environment. The 3D gait of the robot is compared to human in walk

Asymptotic solution of the high order partial differential equation

In the present paper, the authors have constructed an asymptotic solution of the high order equation with partial derivatives by means of the asymptotic method for the high order systems. The improved first approximation of the solution of the given boundary value problem is determine