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An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation

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Journal of Bionic Engineering 2023年第4期20卷 1597-1612页

作者： Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China National Rehabilitation Center for Persons with Disabilities Tokorozawa359-8555Japan Faculty of Medicine Kagawa UniversityTakamatsuKagawa761-0793Japan

Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side ***,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be *** this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills *** Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness ***,the bilateral impedance control is incorporated for realizing compliant patient-robot *** experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills *** results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.

关键词： Biomimetic stiffness modulation Compliant physical human-robot interaction(pHRI) Electromyography(EMG) Variable stiffness actuator(VSA) Rehabilitation robotics Synergy-based control Skill relearning

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Design, Implementation and Control of an Amphibious Spherical Robot

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Journal of Bionic Engineering 2022年第6期19卷 1736-1757页

作者： Liwei Shi Zhongyin Zhang Zhengyu Li Shuxiang Guo Shaowu Pan Pengxiao Bao Lijie Duan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa761-0396Japan

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve the kinematic performance of spherical *** developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in *** robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion *** designed three types of walking gait for the robot,with different stabilities and ***,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable *** the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares *** proposed a generalized prediction control algorithm to achieve robust underwater motion *** ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.

关键词： Bionic amphibious spherical robot Inertial measurement unit Quadruped gaits Forgetting factor least squares algorithm Generalized prediction control

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Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

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Journal of Bionic Engineering 2022年第3期19卷 643-656页

作者： Ruochen An Shuxiang Guo Yuanhua Yu Chunying Li Tendeng Awa Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China School of Life Science and Technology Changchun University of Science and TechnologyChangchun130022China

Task planning and collaboration of multiple robots have broad application prospects and value in the field of *** improve the performance and working efficiency of our Spherical Underwater Robot(SUR),we propose a multi-robot control strategy that can realize the task planning and collaboration of multiple *** complete real-time information sharing of multiple robots,we first build an acoustic communication system with excellent communication performance under low noise ratio ***,the task planning and collaboration control strategy adjust the SURs so that they maintain their positions in the desired formation when the formation *** SURs can move along desired trajectories in the expected *** control strategy of each SUR uses only its information and limited information of its neighboring ***,based on theoretical analysis and experiments,we evaluate the validity and reliability of the proposed *** comparison to the traditional leader–follower method,it is not necessary to designate a leader and its followers explicitly in our system;thus,important advantages,such as fault tolerance,are achieved.

关键词： Task planning Collaboration control Multiple spherical underwater robots(SUR) Shape keeping

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Elicitation-Based Modulation of Shelf Life in Fruits: Physiological and Molecular Insights

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Phyton-International Journal of Experimental Botany 2023年第8期92卷 2283-2300页

作者： Ankita Kundu Abir Das Sayan Pal Arijit Ghosh Malay Kumar Adak Masayuki Fujita Mirza Hasanuzzaman Plant Physiology and Molecular Biology Research Unit Department of BotanyUniversity of KalyaniKalyani741235India Laboratory of Plant Stress Responses Faculty of AgricultureKagawa UniversityKagawa761-0795Japan Department of Agronomy Faculty of AgricultureSher-E-Bangla Agricultural UniversityDhaka1207Bangladesh

The process of ripening involves physiological and biochemical events that become a concern during postharvest *** have documented different approaches for the preservation and maintenance of fruit quality during the postharvest period that are biocompatible and fully safe for *** residues that sustain sensory characteristics,such as color,ﬂavor,aroma,and texture,are *** fruit ripening,both physical and chemical elicitors are described that regulate ethylene biosynthesis or its signaling for gene *** key regulatory enzymes,such as ACC synthase and ACC oxidase,for ethylene biosynthesis,are important for both climacteric and non-climacteric ***-oxidizing genes that retain sensory characteristics are concerns in this *** elicitors,including chitosan,polyamine,phenolics,lipopolysaccharide,silver derivatives,and nanocomposites,are *** pressure,light wavelengths,relative humidity,cooling,and other environmental factors are important for improved postharvest *** elicitors maintain redox status by inhibiting the generation of reactive oxygen species(ROS)or their *** regulators,including abscisic acid,auxin,brassinosteroids,jasmonic acid,and salicylic acid,are important for the regulation of *** injuries,ionic imbalances,temperature variations,and tissue dehydration can occur irrespective of ripening *** use of synthetic physiochemically active compounds is discussed in terms of physiological,metabolic,cellular,and molecular ***-induced autocatalytic processes,antioxidant cascades,epigenetic regulation,and homeodomain gene expression are ***–acid metabolism,dissolution of the cell wall,and direct or indirect production of secondary metabolites related to postharvest storage are mentioned regarding chilling *** and agrochemicals that trigger plant defense to increase secondary metabolite production are discussed fo

关键词： Epigenetics ethylene elicitors ripening polyphenolics postharvest storage

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Ischemic preconditioning protects post-ischemic renal function in anesthetized dogs:role of adenosine and adenine nucleotides

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Acta Pharmacologica Sinica 2005年第7期26卷 851-859页

作者： ShojiKIMURA AkiraNISHIYAMA MatluburRAHMAN YouichiABE Department of Pharmacology kagawa Medical university 1750-1 Ikenobe kagawa 761-0793 Japan Department of Pharmacology kagawa Medical university 1750-1 Ikenobe kagawa 761-0793 Japan Department of Pharmacology kagawa Medical university 1750-1 Ikenobe kagawa 761-0793 Japan Department of Pharmacology kagawa Medical university 1750-1 Ikenobe kagawa 761-0793 Japan

Aim:To investigate the effects of renal ischemic preconditioning（IPC）on bothrenal hemodynamics and the renal interstitial concentrations of adenosine andadenine nucleotides induced by ischemia-reperfusion ***:Renalhemodynamics responses to ischemia-reperfusion injury in mongrel dog modelswere determined with or without multiple brief renal ischemic preconditioningtreatments,as well as the adenosine A1receptor antagonist（KW-3902）,*** renal interstitial concentrations of adenosine and adenine nucle-otides in response to ischemia-reperfusion injury,either following 1-3 cycles ofIPC or not,were measured simultaneously using microdialysis ***:One 10-min IPC,adenosine A1receptor antagonist（KW-3902）also shortened the recovery time of renal blood flow（RBF）and urine flow（UF）,as well as mean blood pressure（BP）.Advanced renal IPC attenuated theincrement of adenosine and adenine nucleotides,as well as recovery time duringthe 60-rain reperfusion which followed the 60-min renal *** of theserecovery times were dependent on the cycles of 10-min *** renal interstitialconcentrations of adenosine and adenine nucleotides increased and decreasedduring renal ischemia and reperfusion,***:A significantrelativity in dog models exists between the cycles of 10-min renal IPC and therecovery time of BP,UF,and RBF during the 60-min renal reperfusion following60-min renal ischemia,*** IPC can protect against ischemia-reperfusion injury and the predominant effect of endogenous adenosine inducedby prolonged renal ischemia;renal adenosine A1receptor activation during therenal ischemia-reperfusion injury is detrimental to renal function.

关键词： microdialysis ischemia preconditioning reperfusion injury kidney adenosine adenosine A1 receptor

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Difficulty in differentiating two cases of sigmoid stenosis by diverticulitis from cancer

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World Journal of Gastroenterology 2012年第27期18卷 3623-3626页

作者： Noriko Nishiyama Hirohito Mori Hideki Kobara Kazi Rafiq Shintarou Fujihara Mitsuyoshi Kobayashi Tsutomu Masaki Department of Gastroenterology and Neurology Faculty of MedicineKagawa UniversityKagawa 761-0793Japan Department of Pharmacology Faculty of MedicineKagawa UniversityKagawa 761-0793Japan

The incidence of colonic diverticulosis with or without diverticulitis has increased in the Japanese population due to the modernization of food and *** rate of diverticulitis in colon diverticulosis ranges from 8.1% to 9.6%.However,few cases of stenosis due to diverticulitis have been *** reports suggest that the differentiation between sigmoid diverticulitis and colon cancer is *** report describes two cases of colon stenosis due to diverticulitis that were difficult to differentiate from colon *** 1 was a 70-year-old woman with narrowed stools for 1 month who underwent colonofiberscopy (CFS).CFS revealed a diverticulum and circumferential stenosis in the sigmoid *** enema revealed a marked,hourglassshaped,2-cm circumferential stenosis in the sigmoid *** (FDG)-positron emission tomography computed tomography (CT) revealed an increased FDG uptake at the affected portion of the sigmoid *** colon cancer was suspected,and laparoscopic sigmoidectomy was *** examination demonstrated active inflammation with no evidence of *** 2 was a 50-yearold man who presented to a nearby clinic with reduced stool output despite the urge to *** detected severe stenosis in the sigmoid colon approximately 25 cm from the dentate ***-enhanced abdominal CT revealed multiple diverticula,wall thickening,and swelling of the lymph nodes around the peritoneal aorta and the inferior mesenteric artery.A partial sigmoidectomy was *** examination of the resected specimen revealed no changes in the mucosal epithelial surface,but a marked infiltration of inflammatory cells was observed.

关键词：结肠癌狭窄正电子发射断层扫描计算机断层扫描癌症食物安全病理检查脱氧葡萄糖

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Oval mucosal opening bloc biopsy after incision and widening by ring thread traction for submucosal tumor

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World Journal of Gastroenterology 2017年第39期23卷 7185-7190页

作者： Hirohito Mori Hideki Kobara Yu Guan Yasuhiro Goda Nobuya Kobayashi Noriko Nishiyama Tsutomu Masaki Department of Gastroenterology and Neurology Kagawa University Departments of Pharmacology Kagawa University

Gastric submucosal tumors(SMTs) less than 2 cm are generally considered benign neoplasms, and endoscopic observation is recommended, but SMTs over 2 cm, 40% of which are gastrointestinal stromal tumors(GISTs), have malignant potential. Although the Japanese Guidelines for GIST recommend partial surgical resection for GIST over 2 cm with malignant potential as well as en bloc large tissue sample to obtain appropriate and large specimens of SMTs, several reports have been published on tissue sampling of SMTs, such as with endoscopic ultrasound sound fine needle aspiration, submucosal tunneling bloc biopsy, and the combination of bite biopsy and endoscopic mucosal resection. Because a simpler, more accurate method is needed for appropriate treatment, we developed oval mucosal opening bloc biopsy after incision and widening by ring thread traction for submucosal tumor(OMOB) approach. OMOB was simple and enabled us to obtain large samples under direct procedure view as well as allowed us to restore to original mucosa.

关键词：胃的 submucosal 肿瘤胃肠的 stromal 肿瘤可逆开始活体检视内视镜的 ultrasonography 大样品

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Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic Engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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Titania-supported iridium catalysts for dehydrogenative synthesis of benzimidazoles

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Chinese Chemical Letters 2020年第3期31卷 605-608页

作者： Kenji Wada Han Yu Qi Feng Department of Chemistry for Medicine Kagawa UniversityMiki-ChoKita-GunKagawa 761-0793Japan Department of Advanced Materials Science Kagawa UniversityTakamatsuKagawa 761-0396Japan

In this review,development of supported catalysts for the dehydrogenative synthesis of benzimidazoles from primary alcohols and 1,2-phenyIenediamine derivatives is briefly *** them,titania-supported iridium catalysts showed excellent activities under mild reaction ***,the low-temperature activity of iridium catalyst was significantly affected by titania supports,and the reaction of 1,2-phenylenediamine and benzyl alcohol in the presence of rutilesupported catalysts proceeded smoothly at 100℃to give 2-phenylbenzimidazole in high yields of up to 88%,On the other hand,catalysts supported on anatase generally showed poor activity at 100℃.A significant relationship between CO uptake and the activity of titania-supported catalysts has been reported,indicating that well-reduced iridium species on rutile would be responsible for the predominant catalytic *** present results suggest the importance of the selection of suitable titania supports for the iridium catalysts.

关键词： Benzimidazole Iridium Titania Heterogeneous catalysts Dehydrogenation

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Curvature derived from LiDAR digital elevation models as simple indicators of debris-flow susceptibility

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Journal of Mountain Science 2019年第1期16卷 95-107页

作者： Atsuko NONOMURA Shuichi HASEGAWA Hideo MATSUMOTO Mari TAKAHASHI Mina MASUMOTO Kazuhito FUJISAWA Faculty of Engineering and design Kagawa University Institute of Education Research and Regional Cooperation for Crisis Management Shikoku Kagawa University Faculty of Engineering Graduate school of Engineering Kagawa University

To mitigate the damage caused by debris flows resulting from heavy precipitation and to aid in evacuation plan preparation, areas at risk should be mapped on a scale appropriate for affected individuals and communities. We tested the effectiveness of simply identifying debris-flow hazards through automated derivation of surface curvatures using LiDAR digital elevation models. We achieved useful correspondence between plan curvatures and areas of existing debris-flow damage in two localities in Japan using the analysis of digital elevation models(DEMs). We found that plan curvatures derived from 10 m DEMs may be useful to indicate areas that are susceptible to debris flow in mountainous areas. In residential areas located on gentle sloping debris flow fans, the greatest damage to houses was found to be located in the elongated depressions that are connected to mountain stream valleys. Plan curvaturederived from 5 m DEM was the most sensitive indicators for susceptibility to debris flows.

关键词： Digital elevation model LiDAR Gridspacing Debris flow Geological hazard Curvature

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