Visual servoing with hand-eye manipulator-optimal control approach

This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previous LQ methods are not applicable to redundant systems. Moreover, this LQ method gives flexibility for performance improvement instead of the very limited design parameters provided by the generalized inverse and task function controllers. Validity of the LTI model and effectiveness and flexibility of the LQ optimal controller are evaluated by real-time experiments on a PUMA 560 manipulator</p

Building Movie Map -- A Tool for Exploring Areas in a City -- and its Evaluation

We propose a new Movie Map system, with an interface for exploring cities. The system consists of four stages; acquisition, analysis, management, and interaction. In the acquisition stage, omnidirectional videos are taken along streets in target areas. Frames of the video are localized on the map, intersections are detected, and videos are segmented. Turning views at intersections are subsequently generated. By connecting the video segments following the specified movement in an area, we can view the streets better. The interface allows for easy exploration of a target area, and it can show virtual billboards of stores in the view. We conducted user studies to compare our system to the GSV in a scenario where users could freely move and explore to find a landmark. The experiment showed that our system had a better user experience than GSV

Tsuguo Andô et la littérature française

C’est donc pour relativiser le contexte de la langue japonaise, contexte qui impose aux textes littéraires un poids moral, qu’Andô étudie la poésie française intégrée dans un autre contexte linguistique. Andô prête attention, par exemple, à la comparaison célèbre qui se trouve dans la lettre-dédicace à Arsène Houssaye, placée en tête des Petits Poèmes en prose de Baudelaire : le lecteur peut « couper » sa lecture d’un recueil de poèmes, là où il veut et n’importe quand, comme s’il coupait un serpent en tronçons. Comme beaucoup de critiques, Andô apprécie le goût grotesque de Baudelaire qui assimile le mouvement de l’imagination des lecteurs à celui du corps d’un serpent. Cependant, selon Andô, les lecteurs japonais doivent aussi savoir que cette comparaison impressionne les lecteurs français d’autant plus qu’elle leur fait penser naturellement à un acte qui leur est familier : couper des pages. En France, jusqu’à ces derniers temps, on lisait en coupant des pages (ce n’était pas le cas au Japon) et c’est cette expérience quotidienne qui donne une matérialité à la comparaison du livre-serpent

Accumulation and washout of 99mTc-sestamibi in osteoarthritic subchondral bone may indicate increased osteoclastic activity accompanying microfractures : a case study

We show for the first time that imaging of osteoarthritic subchondral bone with 99mTc-sestamibi (MIBI) may be a valuable diagnostic tool to assess the severity of subchondral sclerosis. This is a report on a patient who had osteoarthritis of both knees and where MIBI was accumulated in the lesion sites. Due to the accumulation of MIBI in the bone, we believe that excessive stress had been applied to the bone and microfractures had activated bone remodeling. Typically, MIBI accumulation is not observed in the bone, but MIBI is believed to exhibit high accumulation where there is an increased presence of osteoblasts and osteoclasts. Osteoclasts absorb calcium, consequently causing a depolarization of the mitochondrial membrane potential, which may decrease the ability to retain MIBI and enhance washout. Pathological examination of the tissues of this case confirmed an abundance of osteoclasts. This suggests that using MIBI may be useful for determining the increased presence of osteoblasts and osteoclasts

Babel of Niger State

This paper is a preliminary report on an ongoing research being carried out in the Faculty of Languages and Communication Studies of Ibrahim Badamasi Babangida University, Lapai, Niger State, Nigeria. The research is on ‘Language education and translation in Niger State’. The languages involved in the research are: Arabic, English, French, Gbagyi, Hausa and Nupe. The aim of this research which is funded by the Nigerian Tertiary Education Trust Fund (TETFund) is ‘to help improve the outcome of language education and translation in Niger State in both quality and quantity’ As a preliminary inquiry, the research team visited 78 institutions of learning at all levels (primary, secondary and tertiary) in all the three geopolitical zones of Niger State, as well as media houses located in the capital, Minna, and obtained responses to the questionnaires they took to the institutions. While pursuing the aim and objectives of their main research, the team deemed it necessary to consider the position (and the plight) of the multiplicity of other languages of Niger State (than the three major ones – Gbagyi, Hausa and Nupe) in relation to Nigeria’s language policy in education. The team found that there are conflicting reports on these languages with regard to their exact number, their location, their status, and even their spelling. The team learned that there are at least 38 languages in Niger State, some of which have several dialects as well. This side-line research concluded, therefore, that it would be a tall order to insist on implementing certain aspects of the national language policy in education in respect of the users of these languages, some of whom do not even speak Hausa, the most widely spread of the three major indigenous languages in the State. This research recommended, therefore, that the Niger State Government should consider establishing a language policy, and drawing up a specific plan, that will enable it to implement relevant aspects of the national language policy in education.Key Words: Languages, Niger State, Language policy, Educatio

ジョセイ ジュウギョウイン ノ ソシキ ニオケル コミュニケーション ネットワーク コウゾウ ノ ジッショウテキ ケンキュウ 1

論文(Article

Qa-SNAREs localized to the trans-Golgi network regulate multiple transport pathways and extracellular disease resistance in plants

In all eukaryotic cells, a membrane-trafficking system connects the post-Golgi organelles, such as the trans-Golgi network (TGN), endosomes, vacuoles, and the plasma membrane. This complex network plays critical roles in several higher-order functions in multicellular organisms. The TGN, one of the important organelles for protein transport in the post-Golgi network, functions as a sorting station, where cargo proteins are directed to the appropriate post-Golgi compartments. Unlike its roles in animal and yeast cells, the TGN has also been reported to function like early endosomal compartments in plant cells. However, the physiological roles of the TGN functions in plants are not understood. Here, we report a study of the SYP4 group (SYP41, SYP42, and SYP43), which represents the plant orthologs of the Tlg2/syntaxin16 Qa-SNARE (soluble N-ethylmaleimide sensitive factor attachment protein receptor) that localizes on the TGN in yeast and animal cells. The SYP4 group regulates the secretory and vacuolar transport pathways in the post-Golgi network and maintains the morphology of the Golgi apparatus and TGN. Consistent with a secretory role, SYP4 proteins are required for extracellular resistance responses to a fungal pathogen. We also reveal a plant cell-specific higher-order role of the SYP4 group in the protection of chloroplasts from salicylic acid-dependent biotic stress

「日書」の展開と中国古代の社会

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 平勢 隆郎, 東京大学准教授 吉澤 誠一郎, 東京大学准教授 佐川 英治, 東京大学准教授 小寺 敦, 東京学芸大学教授 小嶋 茂稔University of Tokyo(東京大学

The Arabidopsis AAA ATPase SKD1 is involved in multivesicular endosome function and interacts with its positive regulator LYST-INTERACTING PROTEIN5

In yeast and mammals, the AAA ATPase Vps4p/SKD1 (for Vacuolar protein sorting 4/SUPPRESSOR OF K+ TRANSPORT GROWTH DEFECT1) is required for the endosomal sorting of secretory and endocytic cargo. We identified a VPS4/SKD1 homolog in Arabidopsis thaliana, which localizes to the cytoplasm and to multivesicular endosomes. In addition, green fluorescent protein-SKD1 colocalizes on multivesicular bodies with fluorescent fusion protein endosomal Rab GTPases, such as ARA6/RabF1, RHA1/RabF2a, and ARA7/RabF2b, and with the endocytic marker FM4-64. The expression of SKD1E232Q, an ATPase-deficient version of SKD1, induces alterations in the endosomal system of tobacco (Nicotiana tabacum) Bright Yellow 2 cells and ultimately leads to cell death. The inducible expression ofSKD1E232Q in Arabidopsis resulted in enlarged endosomes with a reduced number of internal vesicles. In a yeast two-hybrid screen using Arabidopsis SKD1 as bait, we isolated a putative homolog of mammalian LYST-INTERACTING PROTEIN5 (LIP5)/SKD1 BINDING PROTEIN1 and yeast Vta1p (for Vps twenty associated 1 protein). Arabidopsis LIP5 acts as a positive regulator of SKD1 by increasing fourfold to fivefold its in vitro ATPase activity. We isolated a knockout homozygous Arabidopsis mutant line with a T-DNA insertion in LIP5. lip5 plants are viable and show no phenotypic alterations under normal growth conditions, suggesting that basal SKD1 ATPase activity is sufficient for plant development and growth.Facultad de Ciencias Agrarias y Forestale

Endocytosis restricts Arabidopsis KNOLLE syntaxin to the cell division plane during late cytokinesis

Cytokinesis represents the final stage of eukaryotic cell division during which the cytoplasm becomes partitioned between daughter cells. The process differs to some extent between animal and plant cells, but proteins of the syntaxin family mediate membrane fusion in the plane of cell division in diverse organisms. How syntaxin localization is kept in check remains elusive. Here, we report that localization of the Arabidopsis KNOLLE syntaxin in the plane of cell division is maintained by sterol-dependent endocytosis involving a clathrin- and DYNAMIN-RELATED PROTEIN1A-dependent mechanism. On genetic or pharmacological interference with endocytosis, KNOLLE mis-localizes to lateral plasma membranes after cell-plate fusion. Fluorescence-loss-in-photo-bleaching and fluorescence-recovery-after-photo-bleaching experiments reveal lateral diffusion of GFP-KNOLLE from the plane of division to lateral membranes. In an endocytosis-defective sterol biosynthesis mutant displaying lateral KNOLLE diffusion, KNOLLE secretory trafficking remains unaffected. Thus, restriction of lateral diffusion by endocytosis may serve to maintain specificity of syntaxin localization during late cytokinesis