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Limb Stiffness Improvement of the Robot WAREC-1R for a Faster and Stable New Ladder Climbing Gait

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Journal of Bionic Engineering 2023年第1期20卷 57-68页

作者： Xiao Sun Akira Ito takashi Matsuzawa Atsuo Takanishi Department of Mechatronics University of YamanashiYamanashi400-8511Japan Faculty of Science and Engineering Waseda UniversityTokyo162-8480Japan

Ladder climbing is a relatively new but practical locomotion style for robots. Unfortunately, due to their size and weight, ladder climbing by human-sized robots developed so far is struggling with the speedup of ladder climbing motion itself. Therefore, in this paper, a new ladder climbing gait for the robot WAREC-1R is proposed by the authors, which is both faster than the former ones and stable. However, to realize such a gait, a point that has to be taken into consideration is the deformation caused by the self-weight of the robot. To deal with this issue, extra hardware (sensor) and software (position and force control) systems and extra time for sensing and calculation were required. For a complete solution without any complicated systems and time only for deformation compensation, limb stiffness improvement plan by the minimal design change of mechanical parts of the robot is also proposed by the authors, with a thorough study about deformation distribution in the robot. With redesigned parts, ladder climbing experiments by WAREC-1R proved that both the new ladder climbing gait and the limb stiffness improvement are successful, and the reduced deformation is very close to the estimated value as well.

关键词： Ladder climbing Legged robot Bionic robot Gait.Stiffness improvement Finite element analysis

Recent trends from the results of clinical trials on gastric cancer surgery

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Cancer Communications 2019年第1期39卷 106-112页

作者： takashi Kiyokawa Takeo Fukagawa Department of Surgery Teikyo University School of Medicine2-11-1 KagaItabashi-KuTokyo 173-8606Japan

The Japan Clinical Oncology Group has recently conducted large scale clinical trials with findings that have revealed pivotal strategies for the treatment of resectable gastric cancer *** findings include the fact that D3 lymphadenectomy does not improve survival rates when compared to D2 lymphadenectomy,and it is not recommended for resectable gastric ***,a transhiatal approach is recommended,instead of the left thoraco-abdominal approach,for the treatment of adenocarcinoma of the esophago-gastric junction or gastric cardia which has invaded≤3 cm of the *** with splenectomy and bursectomy had been recommended as a part of the D2 ***,the results of the recent clinical trials revealed that splenectomy should be avoided in total gastrectomy with D2 lymphadenectomy for proximal gastric cancer and that bursectomy should be avoided in gastrectomy with D2 lymphadenectomy for resectable gastric *** splenectomy and bursec-tomy were found to be unable to improve survival,but instead increased operative *** trials revealed that the above-mentioned invasive and aggressive procedures did not provide sufficient survival benefits and that gastric cancer surgery may be trending from an“invasive to less invasive”and“aggressive to more conservative”approach.

关键词： Gastric cancer Japanese Gastric Cancer Association Randomized clinical trials Para-aortic lymph nodes D2 lymphadenectomy D3 lymphadenectomy Left thoraco-abdominal approach Hiatal approach Splenectomy Bursectomy

Comparison of the effects of cold water and ice ingestion on endurance cycling capacity in the heat

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Journal of Sport and Health Science 2017年第1期6卷 111-117页

作者： takashi Naito Tetsuro Ogaki Graduate School of Human-Environment Studies Kyushu UniversityFukuoka 40218Japan

Purpose: The purpose of this study was to examine the effects of pre-cooling and fluid replacement with either crushed ice or cold ***: On 2 separate occasions, in a counterbalanced order, 9 recreationally-trained males ingested 1.25 g/kg(80–100 g) of either crushed ice(0.5℃)or cold water(4℃) every 5 min for 30 min before exercise. They also ingested 2.0 g/kg(130–160 g) of the same treatment drink at 15 min, 30 min, and45 min after the commencement of cycling to exhaustion at 60%VO_(2max) until voluntary exhaustion in a hot environment(35℃ and 30% relative humidity).Results: The cycling time to exhaustion in the crushed ice trial(50.0 ± 12.2 min) was longer than the cold water trial(42.2 ± 10.1 min; p = 0.02).Although the rectal temperature fell by 0.37℃± 0.03℃(p = 0.01) at the end of the resting period after the crushed ice ingestion, the rates of rise in rectal temperature during the exercise period were not significantly different between these 2 conditions(crushed ice: 0.23℃± 0.07℃, 5 min;cold water: 0.22℃± 0.07℃, 5 min; p = 0.94).Conclusion: Crushed ice ingestion before and during exercise in a hot environment may be a preferred and effective approach for minimizing thermal strain, and for improving endurance performance as compared with cold water ingestion.

关键词： Cold water ingestion Pre-cooling Rectal temperature Thermoregulation

Role of acetyl group on proton conductivity in chitin system

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Journal of Materiomics 2019年第2期5卷 258-263页

作者： takashi Kawabata Yasumitsu Matsuo Department of Life Science Faculty of Science&EngineeringSetsunan University17-8 Ikeda-nakamachiNeyagawaOsaka572-8508Japan

Measurements of proton conductivity in chitin and chitosan have been carried out and proton conductivity is *** the measurement of fuel cell based on the deacetylated chitin(chitosan)electrolyte,it was found that chitosan becomes the electrolyte of fuel *** result indicates that chitosan in humidified condition exhibits proton conductivity as seen in ***,proton conductivity in chitin is about 100 times higher than that in *** results indicate that acetyl group is an important factor for the appearance of higher proton conductivity in chitin *** addition,the anisotropy of proton conductivity in chitosan is much larger than that in the orientated *** that proton conductivity is caused by proton transfer in water bridges,these results indicate that chitin and chitosan possess quasi-three dimensional water bridges and quasi-two dimensional water bridges,*** is deduced from these results that acetyl group is a key factor not only the appearance of higher proton conductivity but also the realization of quasi-three dimensional proton conductivity.

关键词： Fuel cell Electrolyte Biomaterial and proton conductor

A Note on the GMRES Method for Linear Discrete Ill-Posed Problems

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Advances in Applied Mathematics and Mechanics 2009年第6期1卷 816-829页

作者： Nao Kuroiwa takashi Nodera Graduate School of Science and Technology Keio University3-14-1HiyoshiKohokuYokohamaKanagawaJapan Department of Mathematics Faculty of Science and TechnologyKeio University3-14-1HiyoshiKohokuYokohamaKanagawaJapan

In this paper,we are presenting a proposal for new modified algorithms for RRGMRES and *** is known that RRGMRES and AGMRES are viable methods for solving linear discrete ill-posed *** this paper we have focused on the residual norm and have come-up with two improvements where successive updates and the stabilization of decreases for the residual norm improve performance *** numerical experiments confirm that our improved algorithms are effective for linear discrete ill-posed problems.

关键词： Numerical computation GMRES iterative method linear discrete ill-posed problem

The effect of basic fibroblast growth factor on regeneration in a surgical wound model of rat submandibular glands

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International Journal of Oral Science 2016年第1期8卷 16-23页

作者： Fumitaka Kobayashi Kenichi Matsuzaka takashi Inoue Department of Clinical Pathophysiology Tokyo Dental CollegeTokyoJapan

This study developed an animal model of surgically wounded submandibular glands （SMGs） and investigated the effects of collagen gel with basic fibroblast growth factor （bFGF） on tissue regeneration of surgically wounded SMGs in vivo. The animal model was produced by creating a surgical wound using a 3-mm diameter biopsy punch in SMGs. The wound was filled with collagen gel with bFGF （bFGF group） or without bFGF （control group）. In the animal model of surgically wounded SMGs, salivary glands without scar tissue around the wound area were observed with smaller areas of collagen gel. Small round and spindle-shape cells invaded the collagen gel in both groups after operation day （AOD） 5, and this invasion dramatically increased at AOD 7. Host tissue completely replaced the collagen gel at AOD 21. The invading immune cells in the group treated with collagen gel with bFGF were positive for vimentin, g-smooth muscle actin （αSMA）, CD49f, c-kit and AQP5 at AOD 7. Similarly, the mRNA expression of vimentin, αSMA, CD49f, keratin 19 and AQP5 was also increased. This study suggests that the use of collagen gels with bFGF improves salivary gland regeneration.

关键词： animal model basic fibroblast growth factor collagen immunohistochemistry salivary gland wound healing

Light Front Fermion Model Propagation

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Communications in Theoretical Physics 2013年第7期60卷 55-68页

作者： Jorge Henrique Sales Alfredo takashi Suzukil Universidade Estadual de Santa Cruz km 16 Rodovia Jorge Amado-45662-900-Ilhéus BA Brazi Physics and Engineering Department Southern Adventist University 4881 Taylor Circle-Collegedale TN 37315 USA Instituto de Física Terica UNESP-Universidade Estadual Paulista Rua Dr. Bento Teobaldo Ferraz 271-Bloco II Barra Funda 01140-070 So Paulo So Paulo Brazil

In this work we consider the propagation of two fermion fields interacting with each other by the exchange of intermediate scalar bosons in the light front. We obtain the corrections up to fourth order in the coupling... 详细信息

关键词： light front Fermions propagations

Light Front Boson Model Propagation

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Communications in Theoretical Physics 2011年第6期55卷 1029-1040页

作者： Jorge Henrique Sales Alfredo takashi Suzuki Universidade Estadual de Santa Cruz km 16 Rodovia Ilheus-Itabuna-45662-900-IlheusBABrazil Instituto de Fisica Teorica UNESP-Universidade Estadual PaulistaRua Dr.Bento Teobaldo Ferraz 271-Bl.ⅡBarra Funda01140-070Sao PauloSao PauloBrazil

The scope and aim of this work is to describe the two-body interaction mediated by a particle （either the scalar or the gauge boson） within the light-front formulation. To do this, first of all we point out the importance of propagators and Green functions in Quantum Mechanics. Then we project the covariant quantum propagator onto the light front time to get the propagator for scalar particles in these coordinates. This operator propagates the wave function from x＋ = 0 to x＋〉 0. It corresponds to the definition of the time ordering operation in the light front time x＋. We calculate the light-front Green＇s function for 2 interacting bosons propagating forward in x＋. We also show how to write down the light front Green＇s function from the Feynman propagator and finally make a generalization to N bosons.

关键词： insert light-front bosons propagation

Irsogladine maleate suppresses indomethacin-induced elevation of proinflammatory cytokines and gastric injury in rats

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World Journal of Gastroenterology 2008年第30期14卷 4784-4790页

作者： Koyuki Tajima Kiyoto Kageyama takashi Kyoi Department of Pharmacology Discovery Research LaboratoriesNippon Shinyaku Co. Ltd.

AIM： To investigate the mucosal protective effect and the mechanisms of action of the anti-ulcer drug irsogladine maleate in gastric injury induced by indomethacin in rats. METHODS： Gastric mucosal injury was induced in male Hos：Donryu rats by oral administration of indomethacin at a dose of 48 mg/kg. One hour before indomethacin treatment, animals were orally pretreated with irsogladine maleate at doses of 1 mg/kg, 3 mg/kg or 10 mg/kg. Four hours after indomethacin administration, the animals were sacrificed and their stomachs were rapidly removed and processed for the evaluation of gastric mucosal damage and the determination of the concentrations of tumor necrosis factor-α （TNF-α）, interleukin-1β （IL-1β）, IL-8 and myeloperoxidase （MPO） in mucosal tissues. RESULTS： Linear hemorrhagic mucosal lesions were observed primarily in the glandular stomach 4 h alter oral administration of indomethacin. Pretreatment with irsogladine maleate markedly reduced the number and severity of these lesions in a dose-dependent manner. The mucosal concentrations of proinflammatory cytokines （TNF-α, IL-1β, and IL-8） and MPO, which indicates the degree of mucosal infiltration by neutrophils, increased concomitantly with the occurrence of gastric injury in the indomethacintreated rats. Pretreatment with irsogladine maleate significantly decreased the levels of these inflammatory factors in gastric tissue elicited by ***： The mucosal protective effects afforded by irsogladine maleate on gastric injury induced by indomethacin are mediated by inhibition of mucosal proinflammatory cytokine production and neutrophil infiltration, leading to suppression of mucosal inflammation and subsequent tissue destruction.

关键词： Irsogladine Gastric injury Indomethacin Cytokine Myeloperoxidase