Hybrid position/force control of two cooperative flexible manipulators working in 3D space

科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究

Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage

This paper presents a grouser developed for the wheels of lunar exploration rovers to measure sinkage. The wheels, which are intended to traverse loose soil such as lunar regolith, contain grousers that transfer thrust to the wheels and thus to the body of the rover. The interaction between the wheel (with grousers) and the loose soil can be described using a kinematic model. When traversing loose soil, the wheel sinks into the soil, which necessitates knowledge of the entrance angle needed in order to avoid this problem. If the entrance angle is known, the sinkage can be measured in real time before adverse conditions occur. Because of the importance and usefulness of detecting the entrance angle of the wheel, we herein propose a grouser with an embedded tactile sensor. A strain gauge on the surface of the grousers serves as the tactile sensor. In order to confirm the precision of the proposed grouser, we have performed tests on a rigid surface and loose soil surfaces.ArticleINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. 11:49 (2014)journal articl

Development of \u27\u27Bonten-Maru\u27\u27humanoid robot

This paper presents the status and research results of the ”Bonten-Maru” humanoid robot project. The main contributions of this project are on CORBA based control of humanoid robot,real time optimal gait generation, control of humanoid robot in a long distance using teleoperation system, operation of humanoid robot in emergency environments, and various humanoid robot motions. In order to verify our research results, we developed the ”Bonten-Maru” humanoid robot. Another important objective is to cooperate with different researchers on humanoid robots by:(1)making the control platform open;(2)easy to be extended;(3)easy to integrate programs in developed in different programming languages. We present the main of the ”Bonten-Maru” humanoid robot project published in more than 20 papers in international journals and conference proceedings

Vibration suppression control of constrained spatial flexible manipulators

application/pdf学術論文 (Article)科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究)Proceedings : 1997 IEEE International Conference on Robotics and Automation : April 20-25, 1997 Albuquerque, New Mexico549622 bytesjournal articl

Ribonuclease Activity of Dis3 Is Required for Mitotic Progression and Provides a Possible Link between Heterochromatin and Kinetochore Function

BACKGROUND: Cellular RNA metabolism has a broad range of functional aspects in cell growth and division, but its role in chromosome segregation during mitosis is only poorly understood. The Dis3 ribonuclease is a key component of the RNA-processing exosome complex. Previous isolation of the dis3-54 cold-sensitive mutant of fission yeast Schizosaccharomyces pombe suggested that Dis3 is also required for correct chromosome segregation. METHODOLOGY/PRINCIPAL FINDINGS: We show here that the progression of mitosis is arrested in dis3-54, and that segregation of the chromosomes is blocked by activation of the mitotic checkpoint control. This block is dependent on the Mad2 checkpoint protein. Double mutant and inhibitor analyses revealed that Dis3 is required for correct kinetochore formation and function, and that this activity is monitored by the Mad2 checkpoint. Dis3 is a member of the highly conserved RNase II family and is known to be an essential subunit of the exosome complex. The dis3-54 mutation was found to alter the RNaseII domain of Dis3, which caused a reduction in ribonuclease activity in vitro. This was associated with loss of silencing of an ura4(+) reporter gene inserted into the outer repeats (otr) and central core (cnt and imr) regions of the centromere. On the other hand, centromeric siRNA maturation and formation of the RITS RNAi effector complex was normal in the dis3-54 mutant. Micrococcal nuclease assay also suggested the overall chromatin structure of the centromere was not affected in dis3-54 mutant. CONCLUSIONS/SIGNIFICANCE: RNase activity of Dis3, a core subunit of exosome, was found to be required for proper kinetochore formation and establishment of kinetochore-microtubule interactions. Moreover, Dis3 was suggested to contribute to kinetochore formation through an involvement in heterochromatic silencing at both outer centromeric repeats and within the central core region. This activity is likely monitored by the mitotic checkpoint, and distinct from that of RNAi-mediated heterochromatin formation directly targeting outer centromeric repeats

The whole blood transcriptional regulation landscape in 465 COVID-19 infected samples from Japan COVID-19 Task Force

「コロナ制圧タスクフォース」COVID-19患者由来の血液細胞における遺伝子発現の網羅的解析 --重症度に応じた遺伝子発現の変化には、ヒトゲノム配列の個人差が影響する--. 京都大学プレスリリース. 2022-08-23.Coronavirus disease 2019 (COVID-19) is a recently-emerged infectious disease that has caused millions of deaths, where comprehensive understanding of disease mechanisms is still unestablished. In particular, studies of gene expression dynamics and regulation landscape in COVID-19 infected individuals are limited. Here, we report on a thorough analysis of whole blood RNA-seq data from 465 genotyped samples from the Japan COVID-19 Task Force, including 359 severe and 106 non-severe COVID-19 cases. We discover 1169 putative causal expression quantitative trait loci (eQTLs) including 34 possible colocalizations with biobank fine-mapping results of hematopoietic traits in a Japanese population, 1549 putative causal splice QTLs (sQTLs; e.g. two independent sQTLs at TOR1AIP1), as well as biologically interpretable trans-eQTL examples (e.g., REST and STING1), all fine-mapped at single variant resolution. We perform differential gene expression analysis to elucidate 198 genes with increased expression in severe COVID-19 cases and enriched for innate immune-related functions. Finally, we evaluate the limited but non-zero effect of COVID-19 phenotype on eQTL discovery, and highlight the presence of COVID-19 severity-interaction eQTLs (ieQTLs; e.g., CLEC4C and MYBL2). Our study provides a comprehensive catalog of whole blood regulatory variants in Japanese, as well as a reference for transcriptional landscapes in response to COVID-19 infection