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Stable Vertical Ladder Climbing with Rung Recognition for a Four-limbed Robot

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Journal of Bionic Engineering 2021年第4期18卷 786-798页

作者： Xiao Sun Kenji Hashimoto Shota Hayashi masahiro Okawara Takashi Mastuzawa Atsuo Takanishi Department of Mechatronics University of YamanashiYamanashiKofu400-8511Japan Department of Mechanical Engineering Informatics Meiji UniversityTokyo214-8571Japan Faculty of Science and Engineering Waseda UniversityTokyo162-8480Japan

This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot“WAREC-1”,including the following 3 components:(a)Whole-body motion planning;(b)Rung recognition system and(c)Reaction force *** 3 components guarantee appropriate ladder climbing motion,successful rung grub and proper reaction force distribution at contact points throughout the climbing motion,*** this system,(1)Stable ladder climbing in 2-point contact gait by a human-sized robot and(2)Successful and stable climbing of an irregular ladder(with a higher or inclined rung)in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized,which have rarely been realized by former ***,experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.

关键词： legged robot ladder climbing stability proximity sensor feedback force control

Visualization and Quantitative Evaluation of Eddy Current Loss in Bar-Wound Type Permanent Magnet Synchronous Motor for Mild-Hybrid Vehicles

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CES Transactions on Electrical Machines and Systems 2019年第3期3卷 269-278页

作者： masahiro Aoyama Jianing Deng SUZUKI Motor Corporation ShizuokaJAPAN.He is now with the Department of EngineeringShizuoka University3-5-1 Johoku Naka-kuHamamatsuShizuokaJAPAN SUZUKI Motor Corporation ShizuokaJAPAN.He is now with DENSO CorporationAichi1-1 Showa-choKariyaAichiJAPAN

This paper describes the conductor eddy current loss that occurs in a permanent magnet type synchronous motor with a distributed winding stator using a rectangular copper wire designed for mild hybrid system applications for small *** with the conventional round wire inserter method,the space factor can be improved and the coil-end length can be shortened by applying a so-called hairpin windings using a pre-formed into hairpin shape of bar conductor,and as a result,DC current resistance of the armature winding can be ***,since the conductor cross-sectional area tends to increases,the conductor eddy current loss generated by the space harmonics linkage becomes too large to *** order to study the reduction of the conductor eddy current loss,it is important to visualize the spatial leakage flux distribution which causes loss and finely analyze how the magnetic path is ***,analysis of the conductor eddy current loss distribution generated in the bar-wound conductor is performed using the CAE model that faithfully reproduces the coil-end shape of the actual ***,it was qualitatively clarified what ratio of conductor eddy current loss at various driving ***,the results of preliminary study on reduction of conductor eddy current loss are reported.

关键词： Conductor eddy current loss hairpin windings type permanent magnet synchronous motor leakage magnetic flux.

New Reflection Principles for Maxwell's Equations and Their Applications

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Numerical Mathematics(Theory,Methods and Applications) 2009年第1期2卷 1-17页

作者： Hongyu Liu masahiro Yamamoto Jun Zou Department of Mathematics University of Washington Box 354350 Seattle WA 98195 USA. Department of Mathematical Sciences The University of Tokyo Komaba Meguro Tokyo 153-8914 Japan. Department of Mathematics The Chinese University ofHong Kong Shatin N.T. Hong Kong.

Some new reflection principles for Maxwell's equations are first established, which are then applied to derive two novel identifiability results in inverse electromagnetic obstacle scattering problems with polyhedral ... 详细信息

关键词： Maxwell's equations reflection principles inverse electromagnetic scattering identiflability and uniqueness.

Identification of telomere maintenance gene variations related to lung adenocarcinoma risk by genome-wide association and whole genome sequencing analyses

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Cancer Communications 2024年第2期44卷 287-293页

作者： Kouya Shiraishi Atsushi Takahashi Yukihide Momozawa Yataro Daigo Syuzo Kaneko Takahisa Kawaguchi Hideo Kunitoh Shingo Matsumoto Hidehito Horinouchi Akiteru Goto Takayuki Honda Kimihiro Shimizu masahiro Torasawa Daisuke Takayanagi Motonobu Saito Akira Saito Yuichiro Ohe Shun-ichi Watanabe Koichi Goto masahiro Tsuboi Katsuya Tsuchihara Sadaaki Takata Tomomi Aoi Atsushi Takano Masashi Kobayashi Yohei Miyagi Kazumi Tanaka Hiroyuki Suzuki Daichi Maeda Takumi Yamaura Maiko Matsuda Yoko Shimada Takaaki Mizuno Hiromi Sakamoto Teruhiko Yoshida Yasushi Goto Tatsuya Yoshida Taiki Yamaji Makoto Sonobe Shinichi Toyooka Kazue Yoneda Katsuhiro Masago Fumihiro Tanaka Megumi Hara Nobuo Fuse Satoshi S.Nishizuka Noriko Motoi Norie Sawada Yuichiro Nishida Kazuki Kumada Kenji Takeuchi Kozo Tanno Yasushi Yatabe Kuniko Sunami Tomoyuki Hishida Yasunari Miyazaki Hidemi Ito Mitsuhiro Amemiya Hirohiko Totsuka Haruhiko Nakayama Tomoyuki Yokose Kazuyoshi Ishigaki Toshiteru Nagashima Yoichi Ohtaki Kazuhiro Imai Ken Takasawa Yoshihiro Minamiya Kazuma Kobayashi Kenichi Okubo Kenji Wakai Atsushi Shimizu Masayuki Yamamoto Motoki Iwasaki Koichi Matsuda Johji Inazawa Yuichi Shiraishi Hiroyoshi Nishikawa Yoshinori Murakami Michiaki Kubo Fumihiko Matsuda Yoichiro Kamatani Ryuji Hamamoto Keitaro Matsuo Takashi Kohno Division of Genome Biology National Cancer Center Research InstituteTokyoJapan Department of Clinical Genomics National Cancer Center Research InstituteTokyoJapan Laboratory for Statistical Analysis Center for Integrative Medical SciencesRIKENYokohamaJapan Department of Genomic Medicine Research InstituteNational Cerebral and Cardiovascular CenterOsakaJapan Laboratory for Genotyping Development Center for Integrative Medical SciencesRIKENYokohamaJapan Center for Antibody and Vaccine Therapy Research HospitalInstitute of Medical ScienceThe University of TokyoTokyoJapan Department of Medical Oncology and Cancer Center and Center for Advanced Medicine against CancerShiga University of Medical ScienceOtsuJapan Division of Medical AI Research and Development National Cancer Center Research InstituteTokyoJapan Center for Genomic Medicine Graduate School of MedicineKyoto UniversityKyotoJapan Department of Medical Oncology Japanese Red Cross Medical CenterTokyoJapan Department of Thoracic Oncology National Cancer Center Hospital EastJapan Department of Thoracic Oncology National Cancer Center HospitalTokyoJapan Department of Cellular and Organ Pathology Graduate School of MedicineAkita UniversityAkitaJapan Department of Respiratory Medicine Tokyo Medical and Dental UniversityBunkyo-kuTokyoJapan Division of General Thoracic Surgery Department of SurgeryShinshu University School of MedicineMatsumotoNaganoJapan Department of General Surgical Science Division of General Thoracic SurgeryGunma University Graduate School of MedicineIntegrative Center of General SurgeryGunma University HospitalGunmaJapan Department of Gastrointestinal Tract Surgery Fukushima Medical University School of MedicineFukushimaJapan StaGen Co. LtdTokyoJapan Division of Thoracic Surgery National Cancer Center HospitalTokyoJapan Department of Thoracic Surgery National Cancer Center Hospital EastChibaJapan Division of Translational Informatics Exploratory Oncology Research and Clinical Trial Center(EPOC

Dear editor,Lung carcinoma is responsible for the highest fatal-ity rate among cancer-related deaths globally,with lung adenocarcinoma(LADC)emerging as the prevailing sub-type.

关键词： adenocarcinoma lung Lung

Expression of β-catenin in hepatocellular carcinoma

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World Journal of Gastroenterology 2005年第16期11卷 2398-2401页

作者： Liem Thanh Tien masahiro Ito Mikiko Nakao Daisuke Niino Meirmanov Serik masahiro Nakashima Chun-Yang Wen Hiroshi Yatsuhashi Hiromi Ishibashi Department of Pathology National Nagasaki Medical Center 2-1001-1 KubaraOmuraNagasaki 856-8562Japan Department of Molecular Pathology Atomic Bomb Disease Institute Nagasaki University Graduate School of Biomedical Science1-12-4 SakamotoNagasaki 852-8523Japan Tissue and Histopathology Section Division of Scientific Data Registry Atomic Bomb Disease Institute Nagasaki University Graduate School of Biomedical Science1-12-4 SakamotoNagasaki 852-8523Japan Department of Digestive Disease Nanjing Drum Tower Hospital Medical School of Nanjing UniversityNanjing 210008Jiangsu ProvinceChina Clinical Research Center National Nagasaki Medical Center 2-1001-1 KubaraOmuraNagasaki 856-8562Japan

AIM: The beta-catenin has been recognized as a critical member of the Wnt signaling pathway and plays an important role in the generation/differentiation of many tissues. Inappropriate activation of this pathway has been implicated in carcinogenesis. The mechanism underlying the development as well as its prognosis of hepatocellular carcinoma (HCC) has remained unclear. The purpose of this study is to analyze the expression of beta-catenin in HCC in relation to histological grades and viral hepatitis backgrounds. METHODS: Thirty-two sections were selected at random from autopsy and surgical cases of HCC. Immuohistologically, the location and positivity of beta-catenin expression in HCC was examined. RESULTS: Normal hepatocytes did not express beta-catenin. In 78% of HCC beta-catenin was expressed at the membrane of the cells, with or without cytoplasmic and/or nuclear expression. The tumor cells with well-and moderately-differentiated grades expressed frequently at the membrane and cytoplasm compared with poorly-differentiated type. Nuclear expression of beta-catenin was prone to occur in the tumor cells of poorly-differentiated grade. There were 15% of hepatitis C virus (HCV) backgrounds with nuclear expression. In contrast, there was 38% with nuclear expression in hepatitis B virus (HBV) backgrounds. In nonB-nonC hepatitis, no case expressed nuclear beta-catenin. CONCLUSION: The beta-catenin expression in HCC cells was heterogenous among types of hepatitis viral infection. Wnt signaling pathway might be deeply involved in less-differentiated HCC and HBV background. (C) 2005 The WJG Press and Elsevier Inc. All rights reserved.

关键词： Hepatocellular carcinoma beta-Catenin Immunohistochemistry

A genetic typing method for albino mutation in the Mongolian gerbil by PCR-RFLP analysis

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Integrative Zoology 2021年第3期16卷 429-432页

作者： Takao UKAJI masahiro A.IWASA Osamu KAI Department of Animal Science and Resources College of Bioresource SciencesNihon UniversityFujisawaJapan

INTRODUCTION The Mongolian gerbil(Meriones unguiculatus)has been used as an animal model for pharmacology(Wu et al.2008),parasitology(Lim et al.2004),and studies of reproduction(Kai et al.1995).The molecular mechanisms of several coat-color phenotypes are known in gerbils(Petrij et al.2001,2007).On the other hand,although albinism in gerbils was first reported by Matsuzaki et al.(1989),its molecular mechanism is still *** a previous study,we reported the establishment of the albino gerbil strain(strain code:MON/Num/c)as a closed colony and the agouti-colored strain(strain code:MON/Num/a)as *** albino strain had 4 nucleotide substitutions and 2 missense mutations(R77H in exon 1 and Q473R in exon 5)in the tyrosinase(Tyr)gene(Ukaji et al.2016).

关键词： al. colored analysis

The Monotone Robin-Robin Domain Decomposition Methods for the Elliptic Problems with Stefan-Boltzmann Conditions

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Communications in Computational Physics 2010年第8期8卷 642-662页

作者： Wenbin Chen Jin Cheng masahiro Yamamoto Weili Zhang School of Mathematical Sciences and Key Laboratory of Computational Physics(MOE) Fudan UniversityShanghai200433China Shanghai Key Laboratory of Intelligent Information Processing Fudan UniversityShanghai200433China Department of Mathematical Sciences University of TokyoTokyo153-8914Japan

This paper is concerned with the elliptic problems with nonlinear StefanBoltzmann boundary *** combining with the monotone method,the RobinRobin domain decomposition methods are proposed to decouple the nonlinear interface and boundary *** monotone properties are verified for both the multiplicative and the additive domain decomposition *** numerical results confirm the theoretical analysis.

关键词： Nonlinear Stefan-Boltzmann condition monotone methods Robin-Robin domain decomposition method

Synthetic Hexaploid Wheat： Yesterday, Today, and Tomorrow

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Engineering 2018年第4期4卷 552-558页

作者： Aili Li Dengcai Liu Wuyun Yang masahiro Kishii Long Mao Institute of Crop Sciences Chinese Academy of Agricultural Sciences Beijing 100081 China Triticeae Research Institute Sichuan Agricultural University Chengdu 611130 China Crop Research Institute Sichuan Academy of Agricultural Sciences Chengdu 610066 China International Maize and Wheat Improvement Center Yexcoco 56237 Mexico

In recent years, wheat yield per hectare appears to have reached a plateau, leading to concerns for future food security with an increasing world population. Since its invention, synthetic hexaploid wheat （SHW） has been shown to be an effective genetic resource for transferring agronomically important genes from wild relatives to common wheat. It provides new sources for yield potential, drought tolerance, disease resistance, and nutrient-use efficiency when bred conventionally with modern wheat varieties. SHW is becoming more and more important for modern wheat breeding. Here, we review the current status of SHW generation, study, and application, with a particular focus on its contribution to wheat breeding. We also briefly introduce the most recent progress in our understanding of the molecular mechanisms for growth vigor in SHW. Advances in new technologies have made the complete wheat reference genome available, which offers a promising future for the study and applications of SHW in wheat improvement that are essential to meet global food demand.

关键词： Synthetic wheat Wheat Polyploidization Disease resistance Stress tolerance Yield

Frequent loss of heterozygosity in two distinct regions,8p23.1 and 8p22, in hepatocellular carcinoma

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World Journal of Gastroenterology 2007年第7期13卷 1090-1097页

作者： Tomoe Lu Hiroshi Hano Keisuke Nagatsuma Satoru Chiba masahiro Ikegami Department of Pathology Jikei University School of Medicine Tokyo Japan

AIM： To identify the precise location of putative tumor suppressor genes （TSGs） on the short arm of chromosome 8 in patients with hepatocellular carcinoma （HCC）. METHODS： We used 16 microsatellite markers informative in Japanese patients, which were selected from 61 pub- lished markers, on 81：）, to analyze the frequency of loss of heterozygosity （LOH） in each region in 33 cases （56 lesions） of HCC. RESULTS： The frequency of LOH at 8p23.2-21 with at least one marker was 63% （20/32） in the informative cases. More specifically, the frequency of LOH at 8p23.2, 8p23.1, 8p22, and 8p21 was 6%, 52%, 47%, and 13% in HCC cases. The LOH was significantly more frequent at 8p23.1 and 8p22 than the average （52% vs 220, P = 0.0008; and 47% vs 22%, P = 0.004, respectively） or others sites, such as 8p23.2 （52% vs 60, P = 0.003; 47% vs 220, P = 0.004） and 8p21 （52% vs 13%, P = 0.001; 47% vs 13%, P = 0.005） in liver cancer on the basis of cases. Notably, LOH frequency was significantly higher at D85277, DSS503, DSS1130, DSS552, DSS254 and D8S258 than at the other sites. However, no allelic loss was detected at any marker on 8p in the lesions of nontumor liver tissues. CONCLUSION： Deletion of 8p, especially the loss of 8p23.1-22, is an important event in the initiation or promotion of HCC. Our results should be useful in identi- fying critical genes that might lie at 8p23.1-22.

关键词： Loss of heterozygosity Chromosome Hepatocarcinogenesis Hepatocellular carcinoma 8p