Design and Control of Delta: Deformable Multilinked Multirotor with Rolling Locomotion Ability in Terrestrial Domain

In recent years, multiple types of locomotion methods for robots have been developed and enabled to adapt to multiple domains. In particular, aerial robots are useful for exploration in several situations, taking advantage of its three-dimensional mobility. Moreover, some aerial robots have achieved manipulation tasks in the air. However, energy consumption for flight is large and thus locomotion ability on the ground is also necessary for aerial robots to do tasks for long time. Therefore, in this work, we aim to develop deformable multirotor robot capable of rolling movement with its entire body and achieve motions on the ground and in the air. In this paper, we first describe the design methodology of a deformable multilinked air-ground hybrid multirotor. We also introduce its mechanical design and rotor configuration based on control stability. Then, thrust control method for locomotion in air and ground domains is described. Finally, we show the implemented prototype of the proposed robot and evaluate through experiments in air and terrestrial domains. To the best of our knowledge, this is the first time to achieve the rolling locomotion by multilink structured mutltrotor.Comment: 8 pages, 15 figure

Design and Control of a Small Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion

Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the locomotion domain to the air by utilizing thrust for propulsion. In this paper, we first describe an optimized construction method for a humanoid robot equipped with wheels and a flight unit to achieve these abilities. Then, we describe the integrated control framework of the proposed flying humanoid for each locomotion mode: aerial, legged, and wheeled locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the proposed robot platform. To the best of our knowledge, this is the first time that a single humanoid has simultaneously achieved three different types of locomotion, including flight.Comment: 8 pages, 17 figures. Accepted by IEEE Robotics and Automation Letter

A new perfusion culture method with a self-organized capillary network

A lack of perfusion has been one of the most significant obstacles for three-dimensional culture systems of organoids and embryonic tissues. Here, we developed a simple and reliable method to implement a perfusable capillary network in vitro. The method employed the self-organization of endothelial cells to generate a capillary network and a static pressure difference for culture medium circulation, which can be easily introduced to standard biological laboratories and enables long-term cultivation of vascular structures. Using this culture system, we perfused the lumen of the self-organized capillary network and observed a flow-induced vascular remodeling process, cell shape changes, and collective cell migration. We also observed an increase in cell proliferation around the self-organized vasculature induced by flow, indicating functional perfusion of the culture medium. We also reconstructed extravasation of tumor and inflammatory cells, and circulation inside spheroids including endothelial cells and human lung fibroblasts. In conclusion, this system is a promising tool to elucidate the mechanisms of various biological processes related to vascular flow

Randomised phase II trial of mFOLFOX6 plus bevacizumab versus mFOLFOX6 plus cetuximab as first-line treatment for colorectal liver metastasis (ATOM trial)

BackgroundChemotherapy with biologics followed by liver surgery improves the resection rate and survival of patients with colorectal liver metastasis (CRLM). However, no prospective study has compared the outcomes of chemotherapy with bevacizumab (BEV) versus cetuximab (CET).MethodsThe ATOM study is the first randomised trial comparing BEV and CET for initially unresectable CRLM. Patients were randomly assigned in a 1:1 ratio to receive mFOLFOX6 plus either BEV or CET. The primary endpoint was progression-free survival (PFS).ResultsBetween May 2013 and April 2016, 122 patients were enrolled. Median PFS was 11.5 months (95% CI 9.2–13.3 months) in the BEV group and 14.8 months (95% CI 9.7–17.3 months) in the CET group (hazard ratio 0.803; P = 0.33). Patients with a smaller-number but larger-sized metastases did better in the CET group. In the BEV and CET groups, the response rates were 68.4% and 84.7% and the resection rates were 56.1% and 49.2%, respectively.ConclusionAlthough CET achieved a better response rate than BEV for patients with a small number of large liver metastases, both biologics had similar efficacy regarding liver resection and acceptable safety profiles. To achieve optimal PFS, biologics should be selected in accordance with patient conditions.Trial registrationThis trial is registered at ClinicalTrials.gov (number NCT01836653), and UMIN Clinical Trials Registry (UMIN-CTR number UMIN000010209)

Feasibility Study of Technology Demonstration Mission for Integrated Attitude-Orbit Control of Solar Sail

We are developing a micro solar sail called PIERIS . The purpose of this project is to demonstrate the following two world-first technologies in Low Earth Orbit. The first technology is to control the external torque with a single gimbal motor. It will be possible to achieve a completely propellant-free Integrated Attitude-Orbit Control. The second technology is a sail structure that guarantees the accuracy of the Pyramid-Shaped sail membrane shape and reduces disturbance torque caused by membrane surface deformation. This project has been selected for the Feasibility-Study phase of the JAXA Small Satellite Rush Program and is scheduled for launch in FY2026 if approved to proceed to the next phase. We are currently conducting mission and system feasibility studies and developing a Bread Board Model

Development and Practice of Introductory Teaching Materials for Mathematics "Problem- Based Learning" on the Theme of "Removal of Roadside Utility Poles"

P(論文)平成30 年に改訂された高等学校学習指導要領では，教育課程編成において「総合的な学習の時間」を中心にカリキュラム設計をすることを目標としている．本稿では，新・逆向き設計に基づき，「総合的な学習の時間」でSDGs に関連した政策，特に「無電柱化政策」の評価を行うこととし，そのサブ課題を「数学」探究活動で行うための導入を支援するゲーミング教材の開発と実践を行った．開発した教材は，「無電柱化政策」の施策を検討している東京都江戸川区一之江7丁目を舞台として，どのように無電柱化を行えば，投入した税金を回収できるのかを考える問題を扱う．開発は，東京工業大学松田研究室が開発しているIAGシステムを用いて行い，実践は東京工業大学附属科学技術高等学校の1年生178名を対象とした．その結果，生徒は教材の題材について把握することはできていたが，開発した教材の目的である問題解決の手法の習得については改善の余地があることがわかった．departmental bulletin pape

DOCK2 is involved in the host genetics and biology of severe COVID-19

「コロナ制圧タスクフォース」COVID-19疾患感受性遺伝子DOCK2の重症化機序を解明 --アジア最大のバイオレポジトリーでCOVID-19の治療標的を発見--. 京都大学プレスリリース. 2022-08-10.Identifying the host genetic factors underlying severe COVID-19 is an emerging challenge. Here we conducted a genome-wide association study (GWAS) involving 2, 393 cases of COVID-19 in a cohort of Japanese individuals collected during the initial waves of the pandemic, with 3, 289 unaffected controls. We identified a variant on chromosome 5 at 5q35 (rs60200309-A), close to the dedicator of cytokinesis 2 gene (DOCK2), which was associated with severe COVID-19 in patients less than 65 years of age. This risk allele was prevalent in East Asian individuals but rare in Europeans, highlighting the value of genome-wide association studies in non-European populations. RNA-sequencing analysis of 473 bulk peripheral blood samples identified decreased expression of DOCK2 associated with the risk allele in these younger patients. DOCK2 expression was suppressed in patients with severe cases of COVID-19. Single-cell RNA-sequencing analysis (n = 61 individuals) identified cell-type-specific downregulation of DOCK2 and a COVID-19-specific decreasing effect of the risk allele on DOCK2 expression in non-classical monocytes. Immunohistochemistry of lung specimens from patients with severe COVID-19 pneumonia showed suppressed DOCK2 expression. Moreover, inhibition of DOCK2 function with CPYPP increased the severity of pneumonia in a Syrian hamster model of SARS-CoV-2 infection, characterized by weight loss, lung oedema, enhanced viral loads, impaired macrophage recruitment and dysregulated type I interferon responses. We conclude that DOCK2 has an important role in the host immune response to SARS-CoV-2 infection and the development of severe COVID-19, and could be further explored as a potential biomarker and/or therapeutic target