World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans.The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in the real home environments, and importantly, tested for full system performances.For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions. In this paper, we describe the core ingredients of the proposed robot system, including visual recognition, object manipulation, and motion planning. Our robot system won the second prize, verifying the effectiveness and potential of data-driven robot systems for mobile manipulation in home environments

SH3YL1 regulates dorsal ruffle formation by a novel phosphoinositide-binding domain

The newly identified SYLF lipid-binding domain of SH3YL1 mediates phosphoinositide binding during dorsal membrane morphogenesis

Seismic Exploration Using Active Sources at Kuchierabujima Volcano, Southwest Japan

Seismic exploration using artificial sources was conducted at Kuchierabujima volcano, southwest Japan in November 2004 by 40 participants from 9 national universities andJapan Meteorological Agency to investigate the subsurface seismic structure. The exploration was the 11th joint experiment under the National Project for Prediction of Volcanic Eruptions. A total of 183 temporal stations equippedwith a 2 Hz vertical component seismometer (including 75 3component seismometers) and a portable data logger were deployed on Kuchierabu Island. Dynamite shots with charges of 10-115 kg were detonated at 19 locations, and seismic signals were successfully recorded. To reveal the P-wave velocity structure, 2955 arrival times of the first motion were picked from the seismograms, and 2187 were classified into ranks A and B. From the record sections and the arrival time data, characteristics reflecting the geological structure were identified. Refracted waves of 5 km/s were observed at stations＞5km from the shot points. Apparent velocities near the shot points depend on the surface geology around the shots. P-wave arrived earlier at stations near the summits. Strongly scattered waves were observed similarly near the summits

Seismic exploration at Fuji volcano with active sources : The outline of the experiment and the arrival time data

Fuji volcano (altitude 3,776m) is the largest basaltic stratovolcano in Japan. In late August and early September 2003, seismic exploration was conducted around Fuji volcano by the detonation of 500 kg charges of dynamite to investigate the seismic structure of that area. Seismographs with an eigenfrequency of 2 Hz were used for observation, positioned along a WSW-ENE line passing through the summit of the mountain. A total of 469 seismic stations were installed at intervals of 250-500 m. The data were stored in memory on-site using data loggers. The sampling interval was 4 ms. Charges were detonated at 5 points, one at each end of the observation line and 3 along its length. The first arrival times and the later-phase arrival times at each station for each detonation were recorded as data. P-wave velocities in the surface layer were estimated from the travel time curves near the explosion points, with results of 2.5 km/s obtained for the vicinity of Fuji volcano and 4.0 km5/s elsewhere

Hypertrophic Synovitis of the Facet Joint Causing Root Pain

Osteoarthritic changes in the facet joints are common in the presence of degenerative disc disease. Changes in the joint capsule accompany changes in the articular surfaces. Intraspinal synovial cysts that cause radicular pain, cauda equina syndrome, and myelopathy have been reported; however, there have been few reports in orthopedic or neurosurgical literature regarding hypertrophic synovitis of the facet joint presenting as an incidental para-articular mass. Here, we report a case of hypertrophic synovitis causing root pain. We describe the case of a 65-year-old man suffering from right sciatica and right leg pain in the L5 nerve-root dermatome for 1 year; magnetic resonance imaging (MRI) revealed an enhanced mass around the L4–5 facet joint. We investigated this mass pathologically. After right medial facetectomy, the symptoms resolved. Pathological investigation revealed this mass was hypertrophic synovitis. Hypertrophic synovitis of the facet joint might cause root pain

Syntheses and Enantioselective Recognition of Chiral Poly(phenylacetylene)s bearing Bulky Optically Active Menthyl Groups

Two optically active poly(menthoxycarbonylphenyleneethynylene)s were synthesized by polycondensation using a palladium-copper catalyst system. All polymers showed Cotton effects in the absorption region of the main chain, meaning that chirality is induced to the main chain. Moreover, these chiral polymers showed the enantioselective recognition ability for chiral menthol in CD spectra