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Novel Synthetic Method for the Vilsmeier-Haack Reagent and Green Routes to Acid Chlorides, Alkyl Formates, and Alkyl Chlorides

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International Journal of Organic Chemistry 2013年第3期3卷 1-7页

作者： Yoshikazu Kimura daisuke matsuura Research and Development Department Iharanikkei Chemical Industry Co. Ltd Kambara Shimizu-ku Shizuoka Japan

An environmentally benign and practical preparation method for the Vilsmeier-Haack reagent (VH) has been developed by using phthaloyl dichloride with DMF in toluene or 2-chlorotoluene. Phthalic anhydride as the byproduct was recovered in high yield by simple filtration. Some aromatic acids have been transformed into the corresponding acid chlorides in good yields by employing the isolated VH. Treatment of primary or secondary alcohols with VH gave alkyl formates or alkyl chlorides by depending on the reaction conditions.

关键词： Phthaloyl Dichloride Vilsmeier-Haack Reagent Acid Chlorides Alkyl Formates Alkyl Chlorides

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Learning Control of Hyper Redundant Robots Based on Linear Learning Control Scheme

Learning Control of Hyper Redundant Robots Based on Linear L...

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首届亚洲机械电子学学术会议

作者： daisuke matsuura Nobuyuki Iwatsuki Yoichi Shimada Kouichi Morikawa Graduate School Tokyo Institute of Technology2-12-1 OhokayamaMeguro-kuTokyo 152-8552Japan Komatsu Co. Ltd.Japan

This paper describes motion control of hyper redundant robots with learning control based on linear learning control *** the conventional linear learning control scheme for non-redundant robots,the increment of joint inputs in a celtain learning process could be calculated with an inverse Jacobian matrix and the linear combination of error *** using general solution of inverse kinematics with pseudo inverse of Jacobian matrix,the control scheme was extended so that a redundant robot can realize a motion as a sub task while generating the trajectory specified as a main *** new control scheme was applied to control a planar serial manipulator with 5 DOF,which generated continuous path trajectory while avoiding obstacles in its workspace. Several simulations and experiments revealed that the proposed control scheme was effective and useful.

关键词： Learning control Linear learning control scheme Hyper redundant robot Obstacle avoidance

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Duplication cyst of the small intestine found by double-balloon endoscopy:A case report

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World Journal of Gastroenterology 2008年第24期14卷 3924-3926页

作者： Haruei Ogino Toshiaki Ochiai Norimoto Nakamura daisuke Yoshimura Teppei Kabemura Tetsuya Kusumoto Hiroshi matsuura Akihiko Nakashima Kuniomi Honda Kazuhiko Nakamura Department of Internal Medicine Saiseikai Fukuoka General Hospital Department of Surgery Saiseikai Fukuoka General Hospital Department of Pathology Saiseikai Fukuoka General Hospital Department of Medicine and Bioregulatory Science Graduate School of Medical SciencesKyushu University

A 35-year-old man was admitted due to bloody stool and anemia. The bleeding source could not be detected by esophagogastroduodenoscopy or colonoscopy. Double balloon endoscopy (DBE) revealed a diverticulum-like hole in which coagula stuck in the ileum at 1 meter on the oral side from the ileocecal valve. The adjacent mucosa just to the oral side of the hole was elevated like a submucosal tumor. The lesion was considered the source of bleeding and removed surgically. It was determined to be a cyst with an ileal structure on the mesenteric aspect accompanying gastric mucosa. The diagnosis was a duplication cyst of the ileum,which is a rare entity that can cause gastrointestinal bleeding. In the present case,DBE was used to fi nd the hemorrhagic duplication cyst in the ileum.

关键词： Duplication cyst Double-balloonendoscopy Small intestine bleeding

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