Proposal Of Propulsion Unit Based On Earthworm Setae For Underwater Excavation Robot

In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit

Distributed Driving System For The Excavation Unit Of A Lunar Earthwarm-Type “Leavo” Excavation Robot

The authors have developed a small excavation robot called the “LEAVO” for lunar exploration, and they have confirmed its usefulness as an excavation robot. They then attempted to add a curved excavation function in order for the LEAVO to increase its exploration field. To achieve this goal, it was necessary for the LEAVO’s excavation unit to transmit the motor output torque to the excavation head without any losses. In this paper, therefore, the authors proposed a new driving system called the “distributed driving system,” which reduced the transmission losses by distributing the actuators and arranging them in the frontal part of the robot. Moreover, the authors developed the prototype of this system and measured its output torque as an operational check

Malignant Mesothelioma in the Thoracic Cavity of a Crj:CD(SD) Rat Characterized by Round Hyalinous Stroma

Spontaneous malignant mesothelioma was found in a 104-week-old male Crj:CD(SD) rat. The tumor was scattered on the surface of the lung, heart, mediastinal pleura and thoracic wall and metastasized to the alveolar septa. Histopathologically, small flattened or cuboidal tumor cells proliferated with stroma, formed almost normal papillary structures and reacted positively to colloidal iron stain and immunohistochemical staining for mesothelin. Round hyalinous stromata were pronounced, which is a characteristic feature, and the possible reason for this is as follows; at first, a small amount of collagen fibers was formed in the center of the clusters of several tumor cells, and then the cell clusters expanded like balloons with an increase in the collagen fibers

Myocardial Impairment Detected by Late Gadolinium Enhancement in Hypertrophic Cardiomyopathy: Comparison with 99mTc-MIBI/Tetrofosmin and 123I-BMIPP SPECT

Purpose: Myocardial fibrosis is considered to be an important factor in myocardial dysfunction and sudden cardiac death in hypertrophic cardiomyopathy (HCM). The purpose of this study was to compare myocardial fibrosis detected by late gadolinium enhancement (LGE) on cardiac MRI with myocardial perfusion and fatty acid metabolism assessed by single photon emission computed tomography in HCM.Materials and Methods: We retrospectively evaluated 20 consecutive HCM patients (female, 7; mean age, 53.4 years) who underwent LGE, technetium-99m methoxyisobutylisonitrile/tetrofosmin (99mTc-MIBI/tetrofosmin), and iodine-123 beta-methyl-iodophenylpentadecanoic acid (123I-BMIPP) imaging. We calculated the myocardium-to-lumen signal ratio (M/L) for LGE in 17 segments based on the American Heart Association statement. Scoring of 99mTc-MIBI/tetrofosmin (PI) and 123I-BMIPP (BM) was performed for each segment using a 5-point scale (0, normal; 4, highly decreased).Results: Nineteen of 20 patients (95%) and 153 of 340 segments (45%) showed LGE. M/Ls were 0.42ｱ・.16, 0.55ｱ・.17, and 0.65ｱ・.24 in PI0/BM0, PI0/BM1-4 and PI1-4/BM1-4, respectively. All M/Ls were significantly higher than that of a normal control (0.34ｱ・.14) (p<0.001).Conclusions: Myocardial fibrosis in HCM can occur despite normal perfusion and fatty acid metabolism, and is more strongly associated with disorders of fatty acid metabolism than with perfusion abnormalities. M/L may be a useful indicator of disease severity