Development of Quadruped Achieving High Terrain Adaptability (DOF Configuration Consideration for Redundant Leg Structures)

Abstract Legged locomotion is suitable to move on uneven terrain. However, advantages of legged robots have not been achieved yet. In this study, a relationship between combinations of the joints and generated force or torque will be discussed. Legs with four joints were considered. These legs have a possibility to adapt a rough terrain because of their redundancy. Redundant joint can change the direction of maximum output force without changing output force distribution. After several considerations, three legs out of 81 combinations are examined to simulate. Output force distributions during walking on flat ground and slope are reported

パラジウム/ホスフィン-スルホナート触媒による重合反応 : 官能基化ポリオレフィンの分子量および微細構造の制御に向けて

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 野崎 京子, 東京大学教授 工藤 一秋, 東京大学准教授 橋本 幸彦, 東京大学講師 佐藤 弘志, 理化学研究所主任研究員 候 召民University of Tokyo(東京大学

Effectiveness for Determination of Depositional Age by Detrital Zircon U–Pb Age in the Cretaceous Shimanto Accretionary Complex of Japan

Detrital zircon U–Pb ages indicate the crystallization age. Therefore, it is necessary to evaluate the effectiveness of determining the age of deposition using zircon age data. We carried out U–Pb dating of detrital zircons from sandstone at eight sites in the Cretaceous Shimanto accretionary complex on Kii Peninsula, Japan, with the aim of evaluating the accuracy of U–Pb zircon ages as indicators of the depositional age of sedimentary rocks by comparing zircon ages with radiolarian ages. Our results reveal zircons of late Cretaceous age, and the youngest peak ages are in good agreement with depositional ages inferred from radiolarian fossils. In addition, the youngest peak ages become younger as tectono-structurally downwards, and this tendency is clearer for the zircon ages than for the radiolarian ages. These results indicate that newly crystalized zircons were continuously supplied to the sediment by constant igneous activity during the late Cretaceous and that zircon ages provide remarkably useful information for determining the age of deposition in the Cretaceous Shimanto accretionary complex

Evaluation of Rheumatoid Arthritis Using a Scoring System Devised from Magnetic Resonance Imaging of Rheumatoid Knees

We studied the magnetic resonance imaging (MRI) of 120 knees in 86 rheumatoid arthritis (RA) patients and of 14 unaffected knees in 12 control cases. We also developed a scoring system as a quantitative analysis method. We divided the MRI into 10 items, and classified the severity of the symptoms into 4 grades (score 0 to 3). The average total score increased according to the radiographic grade. Soft tissue lesions were clearly detected, even in the early stages of RA. Items such as synovial proliferation showed a high score even in the early stages, suggesting that it was the initial symptom of RA. The score also showed a correlation with the inflammatory signs. These results suggest that this scoring system is very sensitive and yields a good reflection of RA activity. We demonstrated that this system is simple and convenient for routine diagnostic use. We further demonstrated that it is useful for following the advancement of RA and for evaluating the response to treatment.</p

タイシュウ ノ テツガク : エティエンヌ・バリバール ノ セイジ シソウ ケンキュウ

PDF/A formatsAccess: via World Wide Web東京外国語大学大学院総合国際学研究科博士 (学術) 論文 (2015年3月)Author's thesis (Ph.D)--Tokyo University of Foreign Studies, 2015博甲第193号Bibliography: p. 364-391Summary in English and Japanese東京外国語大学 (Tokyo University of Foreign Studies)博士 (学術

An artificial metalloenzyme for a bimolecular Diels–Alder reaction

The Diels–Alder reaction, one of the most important in organic chemistry, forms functionalized six-membered cycloadducts in a single step. While widely used to construct complex biologically active molecules in the laboratory, [4+2] cycloadditions are rarely employed for natural product biosynthesis in cells owing to the lack of appropriate enzymes. Creating artificial metalloenzymes able to exploit Lewis acid catalysis for substrate activation could change this situation. Embedding a metal ion in a chiral protein binding pocket potentially combines the best aspects of two worlds – transition metal and enzymatic catalysis – to achieve both high activity and selectivity. Here we report the transformation of a zinc-binding helical bundle into an artificial metalloenzyme that efficiently catalyzes a hetero-Diels–Alder reaction between 3-vinyl indole and an azachalcone derivative by a process of design and laboratory evolution. The best enzyme, DA7, performed \u3e15,000 turnovers per active site and produced only a single product stereoisomer (\u3e99% ee). Detailed kinetic analysis showed that this catalyst is more than two orders of magnitude more proficient than other known Diels–Alderases, including many designed catalysts and natural enzymes involved in polyketide natural products biosynthesis. The remarkable activity of DA7 can be ascribed to the Zn(II) ion, which activates the heterodiene for reaction, and a shape complementary binding pocket that preorganized the reactants for efficient reaction and exacting control over chemo-, diastereo-, and enantioselectivity. These results establish the feasibility of combining design and evolution to harness the structural and functional properties of metal ions to produce remarkably active enzymes for an important abiological reaction. Extending this approach to metal ions other than zinc, and to scaffolds beyond helical bundles, can be expected to produce proficient custom-metalloenzymes for a wide spectrum of unnatural chemical transformations