Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion are synchronized to a reference motion desired by a human operator, and then point out that each robot motion ensures passivity. Inter-robot communication channels are then designed via so-called scattering transformation which is a technique to passify the delayed channel. The resulting robotic network is then connected with human operator based on passivity theory. In order to demonstrate the present control architecture, we build an experimental testbed consisting of multiple robots and a tablet. In particular, we analyze the effects of the communication delays on the human operator's behavior

Five steps in leukocyte extravasation in the microcirculation by chemoattractants

For in vivo study of the phenomena observed in vitro, PMN (polymorphonuclear leukocyte) extravasation was analysed quantitatively in the microcirculation of the hamster cheek pouch using a video system. Topical application of leukotriene B4 or N-formyl-methionylleucyl- phenylalanine increased dose dependently the number of PMNs adhering to the venules. Eighty to 90% of the adhering PMNs disappeared from the vascular lumen into the venular wall within 10-12 rain after the adhesion. After PMNs had passed through the endothelial cell layer, they remained in the venular wall for more than 30 min after application of the chemoattractants and appeared in the extravascular space. Thus, the process could be divided into five steps: (1) rolling and (2) adhesion to the endothelium, (3) passage through the endothelial layer (4) remaining in the venular wall, and (5) passage through the basement membrane

Inhibition of neutrophil migration by a selective inhibitor of matrix metalloproteinase: analysis by intravital microscopy

Observation of the microcirculation of the hamster cheek pouch by intravital microscopy revealed five steps of neutrophil migration from the venules after topical application of leukotriene B4 to the microvasculature: rolling along the venular wall (Step 1), adhesion to it (Step 2), disappearance from the vascular lumen (Step 3), presence between the endothelial cells and the subendothelial basement membrane (Step 4) and passage through the basement membrane (Step 5). The present study was performed to examine whether a metalloproteinase inhibitor inhibits neutrophil migration at any of the above five steps. Chymostatin and leupeptin did not inhibit any of these five steps. In contrast, FN-439, a selective inhibitor of matrix metalloproteinase, reduced the number of neutrophils in the perivascular space without affecting Steps 1 to 3. It was concluded that neutrophils may use metalloproteinase (collagenase/gelatinase) to penetrate the subendothelial basement membrane

Study of nuclear correlation effects via 12C(p,n)12N(g.s.,1+) at 296 MeV

We report measurements of the cross section and a complete set of polarization observables for the Gamow--Teller ${}^{12}{\rm C}(\vec{p},\vec{n}){}^{12}{\rm N}({\rm g.s.},1^+)$ reaction at a bombarding energy of 296 MeV. The data are compared with distorted wave impulse approximation calculations employing transition form factors normalized to reproduce the observed beta-decay $ft$ value. The cross section is significantly under-predicted by the calculations at momentum transfers $q \gtrsim$ 0.5 ${\rm fm^{-1}}$. The discrepancy is partly resolved by considering the non-locality of the nuclear mean field. However, the calculations still under-predict the cross section at large momentum transfers of $q$ $\simeq$ 1.6 ${\rm fm^{-1}}$. We also performed calculations employing random phase approximation response functions and found that the observed enhancement can be attributed in part to pionic correlations in nuclei.Comment: 5 figures, submitted to Phys. Lett.

Spin-locking, spin-locked echo and rotary saturation associated with a two-quantum transition in a multilevel NMR system

金沢大学人間社会研究域学校教育系We have observed a two-quantum analog of spin-locking and spin-locked echo, and single and multiple quantum rotary saturation in the two-quantum spin-locked state in a multilevel NMR system, 27Al in Al2O3. © 1978