Single-Motor Robotic Gripper With Three Functional Modes for Grasping in Confined Spaces

This study proposes a novel robotic gripper driven by a single motor. The main task is to pick up objects in confined spaces. For this purpose, the developed gripper has three operating modes: grasping, finger-bending, and pull-in modes. Using these three modes, the developed gripper can rotate and translate a grasped object, i.e., can perform in-hand manipulation. This in-hand manipulation is effective for grasping in extremely confined spaces, such as the inside of a box in a shelf, to avoid interference between the grasped object and obstacles. To achieve the three modes using a single motor, the developed gripper is equipped with two novel self-motion switching mechanisms. These mechanisms switch their motions automatically when the motion being generated is prevented. An analysis of the mechanism and control methodology used to achieve the desired behavior are presented. Furthermore, the validity of the analysis and methodology are experimentally demonstrated. The gripper performance is also evaluated through the grasping tests

Teachers’ questioning techniques employed in Japanese senior high school’s English class and the perceptions of three Japanese English teachers

Today, English education in Japanese high schools is facing a major change. The Course of Study for English in senior high schools, which has emphasised the importance of developing students’ ‘communication abilities’ for past few decades, announced a new policy in 2009 suggesting that teachers primarily use the English language for teaching (this will be enforced in full as of the next academic year, in 2013). However, it is said that teachers are still relying on the traditional method in their classrooms, which employs a more teacher-centred, instruction-based approach, despite the need to apply a more student-centred, interaction-based approach. In this respect, although it is necessary for Japanese English teachers to adapt to teaching in English, ‘teachers’ questioning’, as one form of classroom interaction, is considered one way to make their classes more communicative. Hence, three English teachers in Japanese senior high schools were interviewed in order to explore their perceptions of the effectiveness of questioning techniques, using a sample lesson plan that included different types of questions. The interviews showed a gap between what teachers considered effective questions and what they actually asked in classrooms. Furthermore, the teachers revealed the existence of external factors that affected the questioning techniques they employed in their lessons

Gas transport in partially-saturated sand packs

Understanding gas transport in porous media and its mechanism has broad applications in various research areas, such as carbon sequestration in deep saline aquifers and gas explorations in reservoir rocks. Gas transport is mainly controlled by pore space geometrical and morphological characteristics. In this study, we apply a physically-based model developed using concepts from percolation theory (PT) and the effective-medium approximation (EMA) to better understand diffusion and permeability of gas in packings of angular and rounded sand grains as well as glass beads. Two average sizes of grain i.e., 0.3 and 0.5 mm were used to pack sands in a column of 6 cm height and 4.9 cm diameter so that the total porosity of all packs was near 0.4. Water content, gas-filled porosity (also known as gas content), gas diffusion, and gas permeability were measured at different capillary pressures. The X-ray computed tomography method and the 3DMA-Rock software package were applied to determine the average pore coordination number z. Results showed that both saturation-dependent diffusion and permeability of gas showed almost linear behavior at higher gas-filled porosities, while deviated substantially from linear scaling at lower gas saturations. Comparing the theory with the diffusion and permeability experiments showed that the determined value of z ranged between 2.8 and 5.3, not greatly different from X-ray computed tomography results. The obtained results clearly indicate that the effect of the pore-throat size distribution on gas diffusion and permeability was minimal in these sand and glass bead packs

Accuracy of Length of Virtual Stents in Treatment of Intracranial Wide-Necked Aneurysms.

Background and purposePrecise stent deployment is important for successful treatment of intracranial aneurysms by stent-assisted coiling (SAC). We evaluated the accuracy of virtual stents generated using commercial stent planning software by comparing the length of virtual and actually deployed intracranial laser cut stents on three-dimensional digital subtraction angiography (3D-DSA) images.MethodsWe retrospectively analyzed the data of 75 consecutive cases of intracranial wide-necked aneurysms treated with the SAC technique using laser cut stents. Based on 3D-DSA images acquired by C-arm CT, stent sizing and placement were intraoperatively simulated by a commercial software application. The difference in length of the stents was estimated by measuring proximal discrepancies between the end points of the virtual and actually deployed stents on fused pre-procedural and post-procedural 3D-DSA images. Discrepancies between distal stent end points were manually minimized. The Kruskal-Wallis test was applied to test whether stent location, type, and length had an effect on difference in length between virtual and real stent.ResultsThe median difference in length between virtual and real stents was 1.58 mm with interquartile range 1.12-2.12 mm. There was no evidence for an effect of stent location (p = 0.23), stent type (p = 0.33), or stent length (p = 0.53) on difference in length between virtual and real stents.ConclusionsStent planning software allows 3D simulation of laser cut stents overlain on 3D-DSA images of vessels and may thus be useful for stent selection and deployment of laser cut stents during stent-assisted coiling of intracranial aneurysms

Estimated pretreatment hemodynamic prognostic factors of aneurysm recurrence after endovascular embolization.

BACKGROUND:Hemodynamic factors play important roles in aneurysm recurrence after endovascular treatment. OBJECTIVE:Predicting the risk of recurrence by hemodynamic analysis using an untreated aneurysm model is important because such prediction is required before treatment. METHODS:We retrospectively analyzed hemodynamic factors associated with aneurysm recurrence from pretreatment models of five recurrent and five stable posterior communicating artery (Pcom) aneurysms with no significant differences in aneurysm volume, coil packing density, or sizes of the dome, neck, or Pcom. Hemodynamic factors of velocity ratio, flow rate, pressure ratio, and wall shear stress were investigated. RESULTS:Among the hemodynamic factors investigated, velocity ratio and flow rate of the Pcom showed significant differences between the recurrence group and stable group (0.630 ± 0.062 and 0.926 ± 0.051, P= 0.016; 56.4 ± 8.9 and 121.6 ± 6.7, P= 0.008, respectively). CONCLUSIONS:Our results suggest that hemodynamic factors may be associated with aneurysm recurrence among Pcom aneurysms. Velocity and flow rate in the Pcom may be a pretreatment prognostic factor for aneurysm recurrence after endovascular treatment

A nationwide trend analysis in the incidence and mortality of Creutzfeldt-Jakob disease in Japan between 2005 and 2014

In the era of hyper-ageing, Creutzfeldt-Jakob disease (CJD) can become more prevalent as an important cause of dementia. This study aimed to evaluate the trends in crude and age-adjusted CJD-associated mortality and incidence rates in Japan using national vital statistics data on CJD-associated deaths among individuals aged over 50 years, as well as the government-funded nationwide CJD surveillance data (pertaining to the years 2005-2014) in Japan. The data were analysed using the Joinpoint Regression Program to estimate the long-term trends and average annual percentage changes (AAPCs). Overall, the AAPCs of age-adjusted CJD-associated mortality rates rose significantly over the study period (3.2%; 95% confidence interval [CI] 1.4-5.1%). The AAPC of the age-adjusted incidence rates also increased (overall 6.4%; 95% CI 4.7-8.1%). The CJD-associated increases in the mortality and incidence rates were especially prominent among adults over the age of 70 years. Given this trend in aging of population, the disease burden of CJD will continue to increase in severity. Our findings thus recommend that policymakers be aware of the importance of CJD and focus on preparing to address the increasing prevalence of dementia

Lightweight High-Speed and High-Force Gripper for Assembly

This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the high-speed section of the quick-return mechanism and load-sensitive continuously variable transmission mechanism are installed in the gripper. The gripper is also equipped with a self-centering function. The high grasping speed and self-centering function improve the cycle time in robotic operations. In addition, the high tip force is advantageous for stably grasping and assembling heavy objects. Moreover, the design of the gripper reduce the gripper's proportion of the manipulator's payload, thus increasing the weight of the object that can be grasped. The gripper performance was validated through kinematic and static analyses as well as experimental evaluations. This paper also presents the analysis of the self-centering function of the developed gripper