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Proposal of Walking to Prevent a Fall of a Planetary Exploration Legged Rover Using Effect of Loose Soil Caused by a Propagation of Vibration

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Journal of Artificial Intelligence and Technology 2021年第3期1卷 153-165页

作者： tomohiro watanabe Kojiro Iizuka Graduate School of Engineering and Science Shibaura Institute of TechnologySaitama City 337-8570Japan Department of Systems and Engineering and Science Shibaura Institute of TechnologySaitama City 337-8570Japan

In this study,a walking method that prevents a fall of the planetary exploration-legged rover is *** the proposed walking method,the leg is sunk by giving vibration to the *** posture of the rover is changed to prevent a fall of the rover by sinking the ***,the relationship between the kind of vibration and the subsidence of the leg is *** this experimental result,the leg is shown to be easy to sink to the ground by giving ***,the larger the vibratory force is,the easier the leg sinks to the ***,the legged testbed walks on the loose ground with a slope using the proposed walking *** this experimental result,the testbed is difficult to fall down when it uses the proposed ***,the angle of a slope that the testbed can walk becomes large by using the proposed walking.

关键词： planetary exploration legged rover fall prevention loose ground vibration

Autoimmune hepatitis and IgG4-related disease

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World Journal of Gastroenterology 2019年第19期25卷 2308-2314页

作者： Kosuke Minaga tomohiro watanabe Hobyung Chung Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of Medicine Department of Gastroenterology and Hepatology Kobe City General Hospital

IgG4-related disease(IgG4-RD) is a chronic-fibroinflammatory disorder affecting a wide range of organs. Elevation of serum IgG4 concentrations and abundant infiltration of IgG4-expressing plasma cells are key diagnostic features of this autoimmune disease. Although common organ involvement of IgG4-RD includes the salivary glands, pancreas, and bile duct, hepatic involvement is less well established. Recently, five studies identified a subtype of autoimmune hepatitis(AIH), called IgG4-associated AIH(IgG4-AIH). IgG4-AIH is diagnosed based on significant accumulation of IgG4-expressing plasmacytes in the liver in patients who met the diagnostic criteria for classical AIH. Although four of the five reports regarded IgG4-AIH based on hepatic accumulation of IgG4-positive cells alone, one report diagnosed IgG4-AIH based on both hepatic accumulation of IgG4-positive cells and elevated serum concentrations of IgG4. IgG4-AIH diagnosed based on the latter criteria may be a hepatic manifestation of IgG4-RD whereas IgG4-AIH diagnosed based on the former criteria may be a subtype of AIH. In this review article, we summarize and discuss clinicopathological features of IgG4-AIH.

关键词： Autoimmune hepatitis IgG4 IgG4-related disease IgG4-associated autoimmune hepatitis

Nucleotide-binding oligomerization domain 1 and Helicobacter pylori infection: A review

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World Journal of Gastroenterology 2018年第16期24卷 1725-1733页

作者： Kosuke Minaga tomohiro watanabe Ken Kamata Naoki Asano Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of Medicine Division of Gastroenterology Tohoku University Graduate School of Medicine

Nucleotide-binding oligomerization domain 1(NOD1) is an intracellular innate immune sensor for small molecules derived from bacterial cell components. NOD1 activation by its ligands leads to robust production of pro-inflammatory cytokines and chemokines by innate immune cells, thereby mediating mucosal host defense systems against microbes. Chronic gastric infection due to Helicobacter pylori(H. pylori) causes various upper gastrointestinal diseases, including atrophic gastritis, peptic ulcers, and gastric cancer. It is now generally accepted that detection of H. pylori by NOD1 expressed in gastric epithelial cells plays an indispensable role in mucosal host defense systems against this organism. Recent studies have revealed the molecular mechanism by which NOD1 activation caused by H. pylori infection is involved in the development of chronic gastritis and gastric cancer. In this review, we have discussed and summarized how sensing of H. pylori by NOD1 mediates the prevention of chronic gastritis and gastric cancer.

关键词： Nucleotide-binding oligomerization domain 1 Helicobacter pylori,gastritis gastric cancer

Alterations of autophagic and innate immune responses by the Crohn’s disease-associated ATG16L1 mutation

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World Journal of Gastroenterology 2022年第26期28卷 3063-3070页

作者： Natsuki Okai tomohiro watanabe Kosuke Minaga Ken Kamata Hajime Honjo Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of MedicineOsaka-Sayama 589-8511OsakaJapan

Crohn’s disease(CD)is driven by the loss of tolerance to intestinal microbiota and excessive production of pro-inflammatory *** pro-inflammatory cytokines are produced by macrophages and dendritic cells(DCs)upon sensing the intestinal microbiota by the pattern recognition receptors(PRRs).Impaired activation of PRR-mediated signaling pathways is associated with chronic gastrointestinal inflammation,as shown by the fact that loss-of-function mutations in the nucleotide-binding oligomerization domain 2 gene increase the risk of CD *** is an intracellular degradation process,during which cytoplasmic nutrients and intracellular pathogens are *** that impaired reaction to intestinal microbiota alters signaling pathways mediated by PRRs,it is likely that dysfunction of the autophagic machinery is involved in the development of ***,the loss-of-function mutation T300A in the autophagy related 16 like 1(ATG16L1)protein,a critical regulator of autophagy,increases susceptibility to *** studies have provided evidence that ATG16L1 is involved not only in autophagy,but also in PRR-mediated signaling ***16L1 negatively regulates pro-inflammatory cytokine responses of macrophages and DCs after these cells sense the intestinal microbiota by ***,we discuss the molecular mechanisms underlying the development of CD in the T300A ATG16L1 mutation by focusing on PRR-mediated signaling pathways.

关键词： ATG16L1 Crohn’s disease Autophagy Innate immunity Cytokine Pattern recognition receptors

Biomarkers in autoimmune pancreatitis and immunoglobulin G4-related disease

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World Journal of Gastroenterology 2021年第19期27卷 2257-2269页

作者： Akane Hara tomohiro watanabe Kosuke Minaga Tomoe Yoshikawa Ken Kamata Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of MedicineOsaka-Sayama 589-8511Japan

Solitary organ autoimmune disorders,formerly known as autoimmune pancreatitis(AIP),autoimmune sialadenitis,and autoimmune sclerosing cholangitis,are now considered organ-specific manifestations of systemic immunoglobulin G4-related disease(IgG4-RD).AIP and IgG4-RD are characterized by elevated serum concentration of IgG4 antibody(Ab),accumulation of IgG4-expressing plasmacytes in the affected organs,and involvement of multiple *** is well established that enhanced IgG4 Ab responses are a hallmark of AIP and IgG4-RD for diagnosis and monitoring disease ***,a significant fraction of patients with AIP and IgG4-RD who develop chronic fibroinflammatory responses have normal serum concentrations of this IgG *** addition,disease flare-up is sometimes seen even in the presence of normalized serum concentrations of IgG4 Ab after successful induction of remission by ***,it is necessary to identify new biomarkers based on the understanding of the pathophysiology of AIP and ***,we found that activation of plasmacytoid dendritic cells producing both interferon-α(IFN-α)and interleukin-33(IL-33)mediate murine AIP and human *** importantly,we provided evidence that serum concentrations of IFN-αand IL-33 could be useful biomarkers for the diagnosis and monitoring of AIP and IgG4-RD activity after induction of remission in these autoimmune *** this Frontier article,we have summarized and discussed biomarkers of AIP and IgG4-RD,including Igs,autoAbs,and cytokines to provide useful information not only for clinicians but also for researchers.

关键词： Biomarker Autoimmune pancreatitis Immunoglobulin G4-related disease Plasmacytoid dendritic cells Cytokine Chemokine

Verrucous antral gastritis in relation to Helicobacter pylori infection,nutrition,and gastric atrophy

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Gastroenterology Report 2020年第4期8卷 293-298,I0002页

作者： Naoko Tsuji Yasuko Umehara Mamoru Takenaka Yasunori Minami tomohiro watanabe Naoshi Nishida Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of MedicineOsaka-SayamaJapan

Background:There have been few studies in the English literature regarding verrucous gastritis(VG).The present study investigated the clinical and endoscopic features of verrucous antral gastritis,especially focusing on Helicobacter pylori infection,nutrition,and gastric ***:We performed a retrospective study of patients who underwent routine endoscopy with indigo carmine chromoendoscopy and a comparative study was conducted between VG-positive and VG-negative *** was subdivided into classical and numerous types based on the number and distribution of verrucous ***,clinical,and endoscopic data including body mass index(BMI),serum albumin and cholesterol,gastric atrophy,reflux oesophagitis,Barrett’s oesophagus,and *** status were *** and multivariable analyses were performed to identify factors associated with ***:We analysed the data of 621 patients undergoing routine endoscopy and found that VG(n=352)was significantly associated with increased BMI(1.12[1.05-1.18],P<0.01),reflux esophagitis(1.96[1.10-3.28],P<0.01),and *** negativity with or without a history of eradication(9.94[6.00-16.47]and 6.12[3.51-10.68],P<0.001,respectively).Numerous-type(n=163)VG was associated with both closed-and open-type gastric atrophy(9.9[4.04-21.37]and 8.10[3.41-19.24],P<0.001,respectively).There were no statistical differences between groups regarding age,sex,total cholesterol,albumin,and bile-colored gastric ***:Verrucous antral gastritis was related to increased BMI,reflux esophagitis,and *** ***-type verrucous lesions were associated with gastric *** indicate that VG may be a physiological phenomenon due to high gastric acidity,mechanical overload,and vulnerability of background mucosa.

关键词： verrucous gastritis chromoendoscopy BMI Helicobacter pylori eradication gastric atrophy

Clinical utility of treatment method conversion during single-session endoscopic ultrasound-guided biliary drainage

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World Journal of Gastroenterology 2020年第9期26卷 947-959页

作者： Kosuke Minaga Mamoru Takenaka Kentaro Yamao Ken Kamata Shunsuke Omoto Atsushi Nakai tomohiro Yamazaki Ayana Okamoto Rei Ishikawa Tomoe Yoshikawa Yasutaka Chiba tomohiro watanabe Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of MedicineOsaka-Sayama 589-8511Japan Clinical Research Center Kindai University HospitalOsaka-Sayama 589-8511Japan

BACKGROUND Although several techniques for endoscopic ultrasound-guided biliary drainage(EUS-BD)are available at present,an optimal treatment algorithm of EUS-BD has not yet been *** To evaluate the clinical utility of treatment method conversion during single endoscopic sessions for difficult cases in initially planned *** This was a single-center retrospective analysis using a prospectively accumulated *** with biliary obstruction undergoing EUS-BD between May 2008 and April 2016 were *** primary outcome was to evaluate the improvement in EUS-BD success rates by converting the treatment methods during a single endoscopic *** outcomes were clarification of the factors leading to the conversion from the initial EUS-BD and the assessment of efficacy and safety of the conversion as judged by technical success,clinical success,and adverse events(AEs).RESULTS A total of 208 patients underwent EUS-BD during the study *** 18.8%(39/208)of the patients,the treatment methods were converted to another EUSBD technique from the initial *** obstruction was caused by pancreatobiliary malignancies,other malignant lesions,biliary stones,and other benign lesions in 22,11,4,and 2 patients,*** reasons for the difficulty with the initial EUS-BD were classified into the following 3 procedures:Target puncture(n=13),guidewire manipulation(n=18),and puncture tract dilation(n=8).Technical success was achieved in 97.4%(38/39)of the cases and clinical success was achieved in 89.5%of patients(34/38).AEs occurred in 10.3%of patients,including bile leakage(n=2),bleeding(n=1),and cholecystitis(n=1).The puncture target and drainage technique were altered in subsequent EUSBD procedures in 25 and 14 patients,*** final technical success rate with 95%CI for all 208 cases was 97.1%(95%CI:93.8%-98.9%),while that of the initially planned EUS-BD was 78.8%(95%CI:72.6%-84.2%).CONCLUSION Among multi-step pro

关键词： Endoscopic ultrasound Endoscopic ultrasound-guided biliary drainage Interventional endoscopic ultrasound Biliary drainage Biliary obstruction

Glass Melting Phenomena of a Fluorescent Lamp and a Protection Method by a Metal Ring

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Journal of Physical Science and Application 2014年第3期4卷 159-165页

作者： Yoshio watanabe tomohiro Yamaguchi Faculty of Engineering Kanagawa University Yokohama 221-8686 Japan

The formation mechanism of the discharge spot at a bottom of a lead wire in a fluorescent lamp at end-of-life is investigated. When the lamp at end-of life is ignited by applying high voltage, glow-like discharge is formed on the surface of the lead wire. A few seconds later, a bright spot is formed at the bottom 0fthe lead-wire. Then the stem glass on which the lead-wires are mounted begins to melt. High electric field is formed between the surface of the lead-wire and the stem glass surrounding the lead wire. Then discharge spot will be formed at the contact portion of the lead wire to the stem glass by this high electric field. To prevent discharge spot formation at the bottom of the lead wire, the metal ring is set to encircle the lead wire and is connected to the lead wire potential through a resistor. By this configuration, discharge spot formation is effectively suppressed. The mechanism for preventing hot discharge spot formation by the metal ring is discussed.

关键词： Fluorescent lamp electrode end-of life glow-like discharge discharge spot stem glass.

Endoscopic ultrasound-guided gallbladder drainage for acute cholecystitis: Long-term outcomes after removal of a self-expandable metal stent

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World Journal of Gastroenterology 2017年第4期23卷 661-667页

作者： Ken Kamata Mamoru Takenaka Masayuki Kitano Shunsuke Omoto Takeshi Miyata Kosuke Minaga Kentaro Yamao Hajime Imai Toshiharu Sakurai tomohiro watanabe Naoshi Nishida Masatoshi Kudo Department of Gastroenterology and Hepatology Kindai University Faculty of MedicineOsaka-Sayama 589-8511Japan

AIM To assess the long-term outcomes of this procedure after removal of self-expandable metal stent(SEMS). The efficacy and safety of endoscopic ultrasoundguided gallbladder drainage(EUS-GBD) with SEMS were also *** Between January 2010 and April 2015, 12 patients with acute calculous cholecystitis, who were deemed unsuitable for cholecystectomy, underwent EUSGBD with a SEMS. EUS-GBD was performed under the guidance of EUS and fluoroscopy, by puncturing the gallbladder with a needle, inserting a guidewire, dilating the puncture hole, and placing a SEMS. TheSEMS was removed and/or replaced with a 7-Fr plastic pigtail stent after cholecystitis improved. The technical and clinical success rates, adverse event rate, and recurrence rate were all *** The rates of technical success, clinical success, and adverse events were 100%, 100%, and 0%, respectively. After cholecystitis improved, the SEMS was removed without replacement in eight patients, whereas it was replaced with a 7-Fr pigtail stent in four patients. Recurrence was seen in one patient(8.3%) who did not receive a replacement pigtail stent. The median follow-up period after EUS-GBD was 304 d(78-1492).CONCLUSION EUS-GBD with a SEMS is a possible alternative treatment for acute cholecystitis. Long-term outcomes after removal of the SEMS were excellent. Removal of the SEMS at 4-wk after SEMS placement and improvement of symptoms might avoid migration of the stent and recurrence of cholecystitis due to food impaction.

关键词： Endoscopic ultrasound-guided gallbladder drainage Cholecystitis Endoscopic ultrasound-guided biliary drainage