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Manipulation of 2D Object with Arbitrary Shape by Robot Finger under Rolling Constraint
Morio Yoshida,Suguru Arimoto,Kenji Tahara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler- Lagrange’ equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.
Morio Yoshie APEC국제교육협력원 2008 Asia-Pacific Cybereducation Journal Vol.4 No.1
This paper reports on an experiment spanning 3 years that was conducted to gain an insight into the state of distance education in the doctoral program of a school of education. There is also a description of the structure of the information and communication network used in the courses. Distance education in graduate schools can be expected to be effective for the research guidance of both on-campus and off-campus students. The network requires confidentially, moving images that convey the expressions of others, clear audio, sharing of images, and the ability for participants to control communications, among other things.
Akihiro Morio,Jian Xu,Akitsu Masuda,Yurie Kinoshita,Masato Hino,Daisuke Morokuma,Hatsumi M. Goda,Nozomu Okino,Makoto Ito,Hiroaki Mon,Ryosuke Fujita,Takahiro Kusakabe,이재만 한국응용곤충학회 2019 Journal of Asia-Pacific Entomology Vol.22 No.2
The O-glycosidase, endo-α-N-acetylgalactosaminidase from Enterococcus faecalis (endoEF) catalyzes the cleavage of core 1 and core 3 type O-linked disaccharides between GalNAc and serine or threonine residues from glycoproteins. The endoEF has broad substrate specificity and thus is extensively utilized for the structural and functional analysis of the O-linked glycans. In this study, we expressed and purified the recombinant endoEF (rEndoEF) by using the silkworm-baculovirus expression vector system (Silkworm-BEVS) and confirmed the deglycosylation activity of rEndoEF targeting reporter glycoproteins, which was equivalent to the commercial Oglycosidase. Thus, our study provides important clues to produce highly active rEndoEF O-glycosidases employing silkworm-BEVS as an alternative.
Sacropelvic Parameters and L5 Spondylolysis: Computed Tomography Analysis
Matsumoto Morio 대한척추외과학회 2022 Asian Spine Journal Vol.16 No.1
Study Design: Retrospective analysis of computed tomography scans.Purpose: This study aims to determine the association of sagittal sacropelvic parameters with L5 spondylolysis.Overview of Literature: The association of increased pelvic incidence (PI) and decreased sacral table angle (STA) with spondylolysis has been reported, but no study has simultaneously analyzed multiple sacropelvic variables to compare their association.Methods: In this study, computed tomography scans obtained to assess major trauma in patients aged >16 years were analyzed. Scans meeting one of the following criteria were excluded: abnormal anatomy, previous spine or hip/pelvis surgery, or spinal pathology, including deformity, infection, tumor, or trauma. sacral anatomic orientation (SAO), PI, pelvic thickness (PTH), femoro-sacral posterior angle (FSPA), STA, and sacral kyphosis (SK) were measured.Results: Overall, 202 scans were analyzed: 25 with L5 spondylolysis and 177 normal. Among the groups, a significant difference was observed in SAO (43.3° vs. 51.6°), PI (61.7° vs. 49.8°), STA (95.4° vs. 101.8°), and SK (31.0° vs. 23.7°). Based on the logistic regression analysis, only PI (odds ratio [OR], 1.074; 95% CI, 1.026–1.124) and STA (OR, 0.822; 95% CI, 0.734–0.920) remained significant predictors for the presence of spondylolysis. In the spondylolysis group, PI correlated significantly with PTH (r=−0.589), FSPA (r=0.880), and SK (r=0.576), whereas in the normal group, PI correlated significantly with FSPA (r=0.781) and SK (r=0.728).Conclusions: By simultaneously assessing multiple sacropelvic parameters, we associated increasing PI with L5 spondylolysis. Decreasing STA, which likely represents a chronic remodeling secondary to spondylolysis, was also associated with increased risk. Back pain in an adolescent or young adult with high PI or low STA should raise suspicion of a possible occult spondylolysis.
Measurement of atmospheric turbulence in a ground-to-low earth orbit optical link
Toyoshima, Morio,Kunimori, Hiroo,Jono, Takashi,Takayama, Yoshihisa,Arai, Katsuyoshi 통신위성우주산업연구회 2006 Joint Conference on Satellite Communications Vol.2006 No.-
Ground-to-satellite laser communication experiments between the optical ground station located in the Koganei ward of downtown Tokyo and the low earth orbit (LEO) satellite, Optical Inter-orbit Communications Engineering Test Satellite (OICETS), also known as "Kirari", were conducted in March and May, 2006. Optical communication links through the atmosphere are affected by the refractive index fluctuation in the atmosphere, making measurement and evaluation of atmospheric turbulence crucial issues. The Differential Image Motion Monitor (DIMM) method was used to estimate atmospheric coherence length, hence the seeing size as well, on the ground to satellite optical link. In the DIMM method, several beam spots are formed on the CCD, and the relative motions between the beam spots are calculated as the relative variance of the centers of the spots, which protects the telescope from the effects of vibrational noise and tracking error of the satellite. In contrast to stellar observation, an additional turbulence factor due to the fast movement of the telescope must be considered for ground to satellite optical links. We present the results of our measurements of atmospheric turbulence and estimate the parameters of the analytical model based on those measurements.