Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Mutations Associated with Functional Disorder of Xanthine Oxidoreductase and Hereditary Xanthinuria in Humans

Xanthine oxidoreductase (XOR) catalyzes the conversion of hypoxanthine to xanthine and xanthine to uric acid with concomitant reduction of either NAD⁺ or O₂. The enzyme is a target of drugs to treat hyperuricemia, gout and reactive oxygen-related diseases. Human diseases associated with genetically determined dysfunction of XOR are termed xanthinuria, because of the excretion of xanthine in urine. Xanthinuria is classified into two subtypes, type I and type II. Type I xanthinuria involves XOR deficiency due to genetic defect of XOR, whereas type II xanthinuria involves dual deficiency of XOR and aldehyde oxidase (AO, a molybdoflavo enzyme similar to XOR) due to genetic defect in the molybdenum cofactor sulfurase. Molybdenum cofactor deficiency is associated with triple deficiency of XOR, AO and sulfite oxidase, due to defective synthesis of molybdopterin, which is a precursor of molybdenum cofactor for all three enzymes. The present review focuses on mutation or chemical modification studies of mammalian XOR, as well as on XOR mutations identified in humans, aimed at understanding the reaction mechanism of XOR and the relevance of mutated XORs as models to estimate the possible side effects of clinical application of XOR inhibitors.     

Automated low-power technique exploiting multiple supply voltagesapplied to a media processor

This paper describes an automated design technique to reduce power by making use of two supply voltages. The technique consists of structure synthesis, placement, and routing. The structure synthesizer clusters the gates off the critical paths so as to supply the reduced voltage to save power. The placement and routing tool assigns either the reduced voltage or the unreduced one to each row so as to minimize the area overhead. The reduced supply, voltage is also exploited in a clock tree to reduce power. Combining these techniques together, we applied it to a media processor chip. The combined technique reduced the power by 47% in random-logic modules and by 73% in the clock tree, while keeping the performance     

500-fps face tracking system

In this paper, we propose a high-speed vision system that can be applied to real-time face tracking at 500 fps using GPU acceleration of a boosting-based face tracking algorithm. By assuming a small image displacement between frames, which is a property of high-frame rate vision, we develop an improved boosting-based face tracking algorithm for fast face tracking by enhancing the Viola–Jones face detector. In the improved algorithm, face detection can be efficiently accelerated by reducing the number of window searches for Haar-like features, and the tracked face pattern can be localized pixel-wise even when the window is sparsely scanned for a larger face pattern by introducing skin color extraction in the boosting-based face detector. The improved boosting-based face tracking algorithm is implemented on a GPU-based high-speed vision platform, and face tracking can be executed in real time at 500 fps for an 8-bit color image of 512 × 512 pixels. In order to verify the effectiveness of the developed face tracking system, we install it on a two-axis mechanical active vision system and perform several experiments for tracking face patterns.     

Relationship between structure and physical strength of silk fibroin nanofiber sheet depending on insolubilization treatment

Materials such as expanded polytetrafluoroethylene and glutaraldehyde‐fixed bovine pericardium are currently used for cardiac tissue regeneration. However, patches made from these materials remain permanently without being absorbed by the body and must be replaced overtime because of degeneration or lack of growth. To improve the long‐term outcomes for cardiac tissue regeneration, biocompatible and biodegradable materials must be used. In this study, we used two biocompatible polymers, silk fibroin (SF), which is biodegradable and segmented polyurethane, to prepare nonwoven sheets that were then insolubilized by water vapor or methanol treatment. The tensile stress increased significantly on adding segmented polyurethane to pure SF and the water vapor processed sheets showed higher extension on strain than the methanol‐processed sheets. The different insolubilization treatments also resulted in different SF structures. Our results show that it is possible to obtain the physical properties required for cardiac tissue repair patch by varying the insolubilization treatment. © 2017 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2017 , 134, 45560.     

Synthesis of Er-doped ZnO nanoparticle/organic hybrid from metal-organics

An Er-doped ZnO nanoparticle/organic hybrid was synthesized in situ from zinc acrylate (ZA) and erbium acetate (EA) using methylhydrazine. Nano-sized Er-doped ZnO particles were formed in an organic matrix by hydrolysis and polymerization of ZA–EA at 80 °C. The crystallinity of the Er-doped ZnO particles in the hybrid was dependent upon the hydrolysis temperature and water amount. Analysis by transmission electron microscopy and energy dispersive X-ray analyzer revealed that crystalline ZnO nanoparticles doped with Er were dispersed in the organic matrix. The hybrid film sandwiched between fused silica plates was highly transparent. The Er-doped ZnO particle/organic hybrid showed a photoluminescence peak at 0.81 eV (1.54 μm) attributed to the transition of Er³⁺ ions.     

Design and Synthesis of A‐Ring Simplified Pyripyropene A Analogues as Potent and Selective Synthetic SOAT2 Inhibitors

Currently, pyripyropene A, which is isolated from the culture broth of Aspergillus fumigatus FO‐1289, is the only compound known to strongly and selectively inhibit the isozyme sterol O‐acyltransferase 2 (SOAT2). To aid in the development of new cholesterol‐lowering or anti‐atherosclerotic agents, new A‐ring simplified pyripyropene A analogues have been designed and synthesized based on total synthesis, and the results of structure–activity relationship studies of pyripyropene A. Among the analogues, two A‐ring simplified pyripyropene A analogues exhibited equally efficient SOAT2 inhibitory activity to that of natural pyripyropene A. These new analogues are the most potent and selective SOAT2 inhibitors to be used as synthetic compounds and attractive seed compounds for the development of drug for dyslipidemia, including atherosclerotic disease and steatosis.