Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance

We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the horizontal dynamics of the upper body on bipedal walking. The limit cycles of the model were numerically searched, and their stability and energy efficiency was investigated. Several qualitatively different limit cycles were obtained depending mainly on the spring constant that supports the wobbling mass. Specific types of solutions decreased the stability while reducing the risk of accidental falling and improving the energy efficiency. The obtained results were attributed to the wobbling mass moving in the opposite direction to the upper body, thereby preventing large changes in acceleration and deceleration while walking. The relationship between the locomotion of the proposed model and the actual biped robot and human gaits was investigated.Comment: 6 pages, 8 figures, accepted to IEEE International Conference on Robotics and Automation (ICRA 2023

Synthesis of Allenyl Esters by Horner-Wadsworth-Emmons Reactions of Ketenes Mediated by i-PrMgBr

The synthesis of conjugated allenyl esters (trisubstituted allenes) was achieved by the Mg(II)-mediated Horner-Wadsworth-Emmons reaction of methyl bis(2,2,2-trifluoroethyl)phosphonoacetate with di-substituted ketenes. In addition, a novel access to α-fluorinated allenyl carboxamides (tetra-substituted allenes) is presented

Bounding of a two-legged robot using CPG-based controller inspired by a cheetah simple model

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P

Local Simulations of the Magneto-rotational Instability in Core-Collapse Supernovae

Bearing in mind the application to core-collapse supernovae, we study nonlinear properties of the magneto-rotational instability (MRI) by means of three- dimensional simulations in the framework of a local shearing box approximation. By changing systematically the shear rates that symbolize the degree of differential rotation in nascent proto-neutron stars (PNSs), we derive a scaling relation between the turbulent stress sustained by the MRI and the shear- vorticity ratio. Our parametric survey shows a power-law scaling between the turbulent stress ($>$) and the shear- vorticity ratio ($g_q$) as $> \propto g_q^{\delta}$ with its index $\delta \sim 0.5$. The MRI-amplified magnetic energy has a similar scaling relative to the turbulent stress, while the Maxwell stress has slightly smaller power-law index ($\sim 0.36$). By modeling the effect of viscous heating rates due to the MRI turbulence, we show that the stronger magnetic fields or the larger shear rates initially imposed lead to the higher dissipation rates. For a rapidly rotating PNS with the spin period in milliseconds and with strong magnetic fields of $10^{15}$ G, the energy dissipation rate is estimated to exceed $10^{51} {\rm erg\ sec^{-1}}$. Our results suggest that the conventional magnetohydrodynamic (MHD) mechanism of core-collapse supernovae is likely to be affected by the MRI-driven turbulence, which we speculate, on one hand, could harm the MHD-driven explosions due to the dissipation of the shear rotational energy at the PNS surface, on the other hand the energy deposition there might be potentially favorable for the working of the neutrino-heating mechanism.Comment: 12 pages, 8 figures, Accepted for publication in Ap

Malignant Lymphoma with Severe Infiltrative Growth into Skeletal Muscles in WBN/Kob Rats

Although spontaneously occurring neoplasms have been reported repeatedly in F344, SD and Wistar rats, which are commonly used strains for routine toxicologic and carcinogenicity studies, there are only a few reports of malignant lymphoma or lymphatic leukemia except for large granular lymphocytic leukemia (LGL) in F344 rats. Malignant lymphoma (lymphosarcoma) is thought to be uncommon in F344 rats. The authors encountered malignant lymphomas of the non-LGL leukemia type with characteristic pathologic features in WBN/Kob rats. The mean age at onset of the disease in all 13 affected rats (8 males and 5 females) was about 60 weeks. Common and characteristic clinical signs were abnormal gait with hind limb paralysis. Macroscopically, the enlargement of the lymph nodes, spleen and liver was slight to moderate. Scattered multiple white-to-gray nodules encompassed the aorta and assumed a bead-like appearance near the thoracic and lumbar vertebrae. Histopathologically, neoplastic proliferative changes were predominant in the bone marrow tissue of the entire body, and many tumor cells infiltrated the spleen and several lymph nodes. The most striking histological features were constant and severe infiltration of tumor cells in the adipose tissue and skeletal muscle adjacent the thoracic and lumber vertebrae. Immunohistochemically, all tumor cells were positive for B-cell markers (PAX-5, CD79a and CD45) and negative for CD3. From the results of immunohistochemistry and morphological examination, these tumors were diagnosed as malignant B-cell lymphomas

Abnormal Human Action Detection Based on GAN

One of the important roles of a camera surveillance system is to detect abnormal human actions or events. In this study, we propose a method of abnormal human actions/events detection method using Generative Adversarial Nets (GAN). In anomaly action detection, the main problem is that the image data of abnormal human actions is more difficult to obtain than normal human actions. To solve this difficulty, we use only normal human action data in the employed training network and those actions not recognized as normal are judged as abnormal. Experimental results show effectiveness of the proposed method.The 2021 International Conference on Artificial Life and Robotics (ICAROB 2021), January 21-24, 2021, Higashi-Hiroshima (オンライン開催に変更

Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations

We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such characteristics should be reproduced to yield the desired effect. In this study, we designed a central pattern generator (CPG) involving fast and slow adaptation to achieve human-like running using a simple spring-mass model and our developed bipedal robot, which is equipped with actuators that imitate the human musculoskeletal system. Our results demonstrate that fast and slow adaptations can reproduce human-like running with a constant rate of muscle firing relative to the gait cycle. Furthermore, the results suggest that the CPG contributes to the adjustment of the muscle activation timing in human running.Comment: 15 pages, 12 figures, submitted to Advanced Robotic

Facile Two-Step Synthesis of Methyl Bis(2,2,2-trifluoroethyl)phosphonoacetate by Exploiting Garegg–Samuelsson Reaction Conditions

A facile two-step synthesis of methyl bis(2,2,2-trifluoroethyl)phosphonoacetate (Still–Gennari reagent) has been developed by exploiting Garegg–Samuelsson reaction conditions. Starting from trimethyl phosphonoacetate, Still–Gennari reagent was prepared in 94% yield via methyl 2-{bis[(trimethylsilyl)oxy]phosphoryl}acetate intermediate. This synthetic procedure was also used to prepare some kinds of Horner–Wadsworth–Emmons reagents and related compounds

Passive immunisation of goldfish with the serum of those surviving a Cyprinid herpesvirus 2 infection after high temperature water treatment

Herpesviral haematopoietic necrosis of goldfish caused by cyprinid herpesvirus 2 (CyHV-2) can be controlled by raising water temperature to a virus non-permissive temperature of 34℃. Consequently, the goldfish can survive and acquire resistance to the disease; the underlying mechanism of acquired resistance, however, remains unclear. In this study, we investigated serological changes in the surviving goldfish, with a focus on their humoral immunity, and examined whether sera of the surviving goldfish conferred passive immunity to naive goldfish. Levels of the anti-CyHV-2 antibodies in 8 of the 9 survivors measured via ELISA were higher than those in control fish. Neutralising antibodies were detected in the sera of 2 survivors, but no direct correlation was observed between ELISA optical density value and neutralising antibody titer. Passive immunisation tests showed that recipients injected with the serum containing neutralising antibodies showed higher survival rates than the control group. The sera from 6 other survivors showed no effect on the recipient\u27s mortality regardless of anti-CyHV-2 antibody levels. These results suggest that neutralising antibodies can contribute to acquired immunity in survivors, and other protective factors, including cell-mediated immunity, may work in the survivors that show no detectable neutralising antibodies