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Origami Folding by Multifingered Hands with Motion Primitives

Cyborg and Bionic Systems 2021年第1期2021卷 169-183页

作者： akio namiki Shuichi Yokosawa Graduate School of Engineering Chiba UniversityChibaJapan

Origami,a traditional Japanese art,is an example of superior handwork produced by human *** such extreme dexterity is one of the goals of robotic *** the work described in this paper,we developed a new general-purpose robot system with sufficient capabilities for performing *** decomposed the complex folding motions into simple primitives and generated the overall motion as a combination of these ***,to measure the paper deformation in real-time,we built an estimator using a physical simulator and a depth *** a result,our experimental system achieved consecutive valley folds and a squash fold.

关键词： robot primitive system

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Alpha-fetoprotein and des-gamma-carboxy-prothrombin at twenty-four weeks after interferon-based therapy predict hepatocellular carcinoma development

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World Journal of Hepatology 2015年第27期7卷 2757-2764页

作者： Satoshi Shakado Shotaro Sakisaka Kazuaki Chayama Takeshi Okanoue Joji Toyoda namiki Izumi Akihiro Matsumoto Tetsuo Takehara akio Ido Yoichi Hiasa Kentaro Yoshioka Hideyuki Nomura Yoshiyuki Ueno Masataka Seike Hiromitsu Kumada Department of Gastro-enterology and Medicine Faculty of Medicine Fukuoka University Department of Gastroenterology and Metabolism Applied Life Sciences Graduate School of Biome-dical and Health SciencesHiroshima University Center of Gastroenterology and Hepatology Saiseikai Suita Hospital Department of Gastroenterology and Hepatology Sapporo Kousei Hospital Department of Gastroenterology and Hepatology Musashino Red-Cross Hospital Department of Medicine Shinshu University School of Medicine Department of Gastroenterology and Hepa-tology Osaka University Graduate School of Medicine Department of Gastroenterology and Hepatology Kagoshima University Department of Gastroenterology and Metabology Ehime University Graduate School of Medicine Department of Liver Biliary Tract and Pancreas Diseases Fujita Health University the Center for Liver Disease Shin-Kokura Hospital Department of Gastroenterology Yamagata University Department of Gastroenterology Faculty of Medicine Oita University Department of Hepatology Toranomon Hospital

AIM: To investigate risk factors for development of hepatocellular carcinoma(HCC) in patients with hepatitis C virus-related liver cirrhosis(LC-C).METHODS: To evaluate the relationship between clinical factors including virological response and the development of HCC in patients with LC-C treated with interferon(IFN) and ribavirin, we conducted a multicenter, retrospective study in 14 hospitals in Japan. All patients had compensated LC-C with clinical or histological data available. HCC was diagnosed by the presence of typical hypervascular characteristics on computed tomography and/or magnetic resonance ***: HCC was diagnosis in 50(21.6%) of 231 LC-C patients during a median observation period of 3.8 years after IFN and ribavirin therapy. Patients who developed HCC were older(P = 0.018) and had higher serum levels of pretreatment alpha-fetoprotein(AFP)(P = 0.038). Multivariate analysis revealed the following independent risk factors for HCC development: history of treatment for HCC [P < 0.001, odds ratio(OR) = 15.27, 95%CI: 4.98-59.51], AFP levels of ≥ 10 ng/m L(P = 0.009, OR = 3.89, 95%CI: 1.38-11.94), and des-γ-carboxy prothrombin(DCP) levels of ≥ 40 m AU/mL at 24 wk after the completion of IFN and ribavirin therapy(P < 0.001, OR = 24.43, 95%CI: 4.11-238.67).CONCLUSION: We suggested that the elevation of AFP and DCP levels at 24 wk after the completion of IFN and ribavirin therapy were strongly associated with the incidence of HCC irrespective of virological response among Japanese LC-C patients.

关键词： Des-γ-carboxy prothrombin Hepatocellular carcinoma

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Short-Term Drug-Drug Interaction between Sildenafil and Bosentan under Long-Term Use in Patients with Pulmonary Arterial Hypertension

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Pharmacology & Pharmacy 2013年第7期4卷 542-548页

作者： Sachiko Miyakawa Keiichi Odagiri Naoki Inui akio Hakamata Takahiro Goto Shimako Tanaka Shinya Uchida Noriyuki namiki Hiroshi Watanabe Department of Clinical Pharmacology and Therapeutics Hamamatsu University School of Medicine Hamamatsu Japan Department of Clinical Pharmacology and Therapeutics Hamamatsu University School of Medicine Hamamatsu Japan Department of Drug Evaluation and Informatics School of Pharmaceutical Sciences University of Shizuoka Shizuoka Japan Department of Pharmacy Practice and Science School of Pharmaceutical Science University of Shizuoka Shizuoka Japan.

Sildenafil and bosentan are often co-administered for pulmonary arterial hypertension (PAH) treatment. The plasma concentration of sildenafil can be decreased by half if co-administered with bosentan. Many patients take these agents simultaneously in the morning and the evening. The aim of this study was to examine the pharmacokinetics of sildenafil which was interfered with bosentan administration to ascertain whether these agents should be given concomitantly or separately. A two-way crossover study was conducted in 6 PAH patients with combination therapy of sildenafil and bosentan. Participants underwent the sequence of treatment phases: phase S (sildenafil administered 3 h before bosen-tan);phase B (bosentan administered 3 h before sildenafil);and phase C (administered concomitantly). Blood samples were collected on the last day of each phase. There was no significant difference in maximum plasma concentration or area under the plasma concentration-time curve (AUC0-8) between phase C and phase S (95.5 ± 24.8 vs. 72.9 ± 40.9 (p = 0.07), 209.7 ± 81.8 vs. 180.2 ± 126.4 (p = 0.24), respectively) or between phases C and B (87.8 ± 42.0 vs. 99.6 ± 33.9 (p = 0.59), 197.2 ± 88.2 vs. 240.7 ± 121.8 (p = 0.19), respectively) (ng/mL, mean ± standard deviation). Large intra-and inter-individual variability in sildenafil concentration was noted. The timing of administration of sildenafil and bosentan does not significantly influence the plasma concentration of sildenafil. Physicians do not need to be overly concerned about the timing of administration of these drugs to maximize the sildenafil concentration.

关键词： Drug-Drug Interaction Pulmonary Arterial Hypertension Sildenafil Bosentan Pharmacokinetics

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