Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351845
Y. Noda, Daisuke Yamagami, K. Terashima
This paper presents an advanced control system for a driving control system of an electrical wheelchair. The aim of the control system is to make possible a comfortable ride in the wheelchair. For this, a passenger model that uses a backrest in the wheelchair has been constructed and a driving pattern that suppresses a passenger's posture behavior has been developed using optimization methods. Then, the quality of the ride whiles a passenger drives the wheelchair has been evaluated by a questionnaire and by measurements of emotional sweating. In comparison with the conventional driving pattern, the proposed driving pattern suppresses about half of the passenger's previous posture behavior and improves the comfort of wheelchair driving.
{"title":"Wheelchair driving control with sway suppression of passenger's posture and evaluation of comfortable ride by emotional sweating","authors":"Y. Noda, Daisuke Yamagami, K. Terashima","doi":"10.1109/MHS.2009.5351845","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351845","url":null,"abstract":"This paper presents an advanced control system for a driving control system of an electrical wheelchair. The aim of the control system is to make possible a comfortable ride in the wheelchair. For this, a passenger model that uses a backrest in the wheelchair has been constructed and a driving pattern that suppresses a passenger's posture behavior has been developed using optimization methods. Then, the quality of the ride whiles a passenger drives the wheelchair has been evaluated by a questionnaire and by measurements of emotional sweating. In comparison with the conventional driving pattern, the proposed driving pattern suppresses about half of the passenger's previous posture behavior and improves the comfort of wheelchair driving.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114223570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351747
Minoru Ishida, Shohei Kato, M. Kanoh, H. Itoh
A central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention in the research field of bipedal locomotion. We describe a motion control method based on dynamic joint passivization for biped robot locomotion. CPG-based motion control is effective for walking on uneven terrain. However, it has serious problems with energy loss. In contrast, PDW saves energy because a robot can walk without any active control or energy input on a downhill slope. However, PDW robot can not walk on uneven terrain, but only on a downhill slope. We think that active walking needs to be mixed with PDW for robot walking. Our motion control method is based on a mixture of the CPG and PDW, that is, the dynamic passivization of joint control. Experiments using the motion control method based on dynamic passivization of joint control successfully generated energy efficient walking and enabled superior gaits.
{"title":"Three dimensional bipedal walking locomotion using dynamic passivization of joint control","authors":"Minoru Ishida, Shohei Kato, M. Kanoh, H. Itoh","doi":"10.1109/MHS.2009.5351747","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351747","url":null,"abstract":"A central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention in the research field of bipedal locomotion. We describe a motion control method based on dynamic joint passivization for biped robot locomotion. CPG-based motion control is effective for walking on uneven terrain. However, it has serious problems with energy loss. In contrast, PDW saves energy because a robot can walk without any active control or energy input on a downhill slope. However, PDW robot can not walk on uneven terrain, but only on a downhill slope. We think that active walking needs to be mixed with PDW for robot walking. Our motion control method is based on a mixture of the CPG and PDW, that is, the dynamic passivization of joint control. Experiments using the motion control method based on dynamic passivization of joint control successfully generated energy efficient walking and enabled superior gaits.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"31 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114112652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351742
Satoshi Amava, D. Dao, S. Sugiyama
This paper reports our study on an efficient fabrication process for polymer microstructures utilizing hot embossing and polishing. In this paper, PMMA micro movable structures are set as the target. First, a silicon mold is fabricated by bulk micromachining technology. Next, PMMA microstructures are formed on PMMA plate by hot embossing process. Then, the hot-embossed structures are bonded to a PMMA substrate, and the backside layer of the hot-embossed PMMA structure that remained after hot embossing is removed by polishing to release the movable structures. PMMA movable microstructures with line and space of 10 µm and 5 µm, respectively, and the thickness of about 60 µm have been fabricated successfully. This is a low-cost and highly efficient method to fabricate polymer MEMS devices.
{"title":"Study on an efficient fabrication process for PMMA movable microstructures based on hot embossing and polishing processes","authors":"Satoshi Amava, D. Dao, S. Sugiyama","doi":"10.1109/MHS.2009.5351742","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351742","url":null,"abstract":"This paper reports our study on an efficient fabrication process for polymer microstructures utilizing hot embossing and polishing. In this paper, PMMA micro movable structures are set as the target. First, a silicon mold is fabricated by bulk micromachining technology. Next, PMMA microstructures are formed on PMMA plate by hot embossing process. Then, the hot-embossed structures are bonded to a PMMA substrate, and the backside layer of the hot-embossed PMMA structure that remained after hot embossing is removed by polishing to release the movable structures. PMMA movable microstructures with line and space of 10 µm and 5 µm, respectively, and the thickness of about 60 µm have been fabricated successfully. This is a low-cost and highly efficient method to fabricate polymer MEMS devices.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114802741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5352075
Fei Chen, P. Di, Jian Huang, H. Sasaki, T. Fukuda
To design a safe path planning for the manipulator is a key issue during the human worker and manipulator cooperation cell assembly. In this study, a cell assembly system involving human worker and manipulator is designed. According to the camera vision information, the locations of the human worker and the manipulator are calculated, and then the potential field is calculated based on the Artificial Potential Field (APF) method. In order to generate a semi-optimal safe path planning for the manipulator, a criterion is imported to evaluate the path and an Evolutionary Algorithm (EA) is adopted to adjust the parameters to meet this criterion. The effectiveness of these methods is finally confirmed through simulation experiments.
{"title":"Evolutionary artificial potential field method based manipulator path planning for safe robotic assembly","authors":"Fei Chen, P. Di, Jian Huang, H. Sasaki, T. Fukuda","doi":"10.1109/MHS.2009.5352075","DOIUrl":"https://doi.org/10.1109/MHS.2009.5352075","url":null,"abstract":"To design a safe path planning for the manipulator is a key issue during the human worker and manipulator cooperation cell assembly. In this study, a cell assembly system involving human worker and manipulator is designed. According to the camera vision information, the locations of the human worker and the manipulator are calculated, and then the potential field is calculated based on the Artificial Potential Field (APF) method. In order to generate a semi-optimal safe path planning for the manipulator, a criterion is imported to evaluate the path and an Evolutionary Algorithm (EA) is adopted to adjust the parameters to meet this criterion. The effectiveness of these methods is finally confirmed through simulation experiments.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122546943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351943
Masaru Takeuchi, M. Nakajima, T. Fukuda
In this paper, we propose a thermal gel actuated probe which uses the volume change of the thermal gel as an actuator. The thermal gel actuated probe can be used for single cell analysis, especially single cell manipulation. The phase change from sol to gel causes an increase in volume, while the change from gel to sol causes a decrease in volume. The thermal gel actuated probe can spout and suck solution by these volume changes. This thermal gel actuated probe can be used as a disposable device. The thermal gel actuated probe also realize easy to use because it is needed only to switch the heater turning on and off for spout and suction of solution. The volume change of the thermal gel was evaluated. It is also evaluated that the volume of spouted solution by the thermal gel actuated probe. Finally, the target single microbead suction and spout were demonstrated by the thermal gel actuated probe. It is considered that the thermal gel actuated probe can realize the target cell manipulation, and can contribute to the single cell analysis.
{"title":"Thermal gel actuated device for spout/suction inside semi-closed microchip","authors":"Masaru Takeuchi, M. Nakajima, T. Fukuda","doi":"10.1109/MHS.2009.5351943","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351943","url":null,"abstract":"In this paper, we propose a thermal gel actuated probe which uses the volume change of the thermal gel as an actuator. The thermal gel actuated probe can be used for single cell analysis, especially single cell manipulation. The phase change from sol to gel causes an increase in volume, while the change from gel to sol causes a decrease in volume. The thermal gel actuated probe can spout and suck solution by these volume changes. This thermal gel actuated probe can be used as a disposable device. The thermal gel actuated probe also realize easy to use because it is needed only to switch the heater turning on and off for spout and suction of solution. The volume change of the thermal gel was evaluated. It is also evaluated that the volume of spouted solution by the thermal gel actuated probe. Finally, the target single microbead suction and spout were demonstrated by the thermal gel actuated probe. It is considered that the thermal gel actuated probe can realize the target cell manipulation, and can contribute to the single cell analysis.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123416029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351856
S. Obi, Kimiko Yamamoto, Tomomi Masumura, T. Asahara, J. Ando
Endothelial progenitor cells (EPCs) are mobilized from bone marrow to peripheral blood, and contribute to angiogenesis in tissues. In the process EPCs are exposed to the shear stress generated by blood flow and tissue fluid flow. Our previous study showed that shear stress promotes differentiation of EPCs into mature endothelial cells. In this study we investigated whether EPCs differentiate into arterial or venous endothelial cells in response to shear stress. When cultured EPCs derived from human peripheral blood were exposed to controlled levels of shear stress in a flow-loading device, the mRNA levels of the arterial endothelial cell markers ephrinB2, Notch1/3, Hey1/2, and ALK1 increased, but the mRNA levels of the venous endothelial cell markers EphB4 and NRP2 decreased. Both the ephrinB2 increase and the EphB4 decrease were shear-stress- rather than shear-rate-dependent. EphrinB2 protein was increased in shear-stressed EPCs, and the increase in ephrinB2 expression was due to activated transcription and not mRNA stabilization. Deletion analysis of the ephrinB2 promoter indicated that the cis-element (shear stress response element) is present within 106 bp 5' upstream from the transcription initiation site. This region contains the Sp1 consensus sequence, and a mutation in its sequence decreased the basal level of transcription and abolished shear stress-induced ephrinB2 transcription. Electrophoretic mobility shift assays and chromatin immunoprecipitation assays showed that shear stress markedly increased binding of Sp1 to its consensus sequence. These results indicate that shear stress induces differentiation of EPCs into arterial endothelial cells by increasing ephrinB2 expression in EPCs through Sp1 activation.
内皮祖细胞(Endothelial progenitor cells, EPCs)从骨髓转移到外周血，参与组织血管生成。在此过程中，内皮祖细胞暴露于血流和组织液流动产生的剪切应力中。我们之前的研究表明，剪切应力促进EPCs向成熟内皮细胞的分化。在这项研究中，我们研究了EPCs是否在剪切应力的作用下分化为动脉或静脉内皮细胞。当体外培养的人外周血内皮细胞在流量负荷装置中受到控制水平的剪切应力时，动脉内皮细胞标记物ephrinB2、Notch1/3、Hey1/2和ALK1的mRNA水平升高，而静脉内皮细胞标记物EphB4和NRP2的mRNA水平降低。ephrinB2的升高和EphB4的降低均与剪切应力有关，而与剪切速率无关。剪切胁迫下EPCs中EphrinB2蛋白表达增加，其表达增加是由于转录激活而非mRNA稳定。对ephrinB2启动子的缺失分析表明，顺式元件(剪切应力响应元件)存在于转录起始位点上游106 bp 5'处。该区域包含Sp1一致序列，该序列的突变降低了转录的基础水平，并消除了剪切应力诱导的ephrinB2转录。电泳迁移率转移试验和染色质免疫沉淀试验表明，剪切应力显著增加Sp1与其一致序列的结合。这些结果表明，剪切应力通过Sp1激活增加EPCs中ephrinB2的表达，诱导EPCs向动脉内皮细胞分化。
{"title":"Shear stress induces arterial differentiation of bone marrow-derived endothelial progenitor cells","authors":"S. Obi, Kimiko Yamamoto, Tomomi Masumura, T. Asahara, J. Ando","doi":"10.1109/MHS.2009.5351856","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351856","url":null,"abstract":"Endothelial progenitor cells (EPCs) are mobilized from bone marrow to peripheral blood, and contribute to angiogenesis in tissues. In the process EPCs are exposed to the shear stress generated by blood flow and tissue fluid flow. Our previous study showed that shear stress promotes differentiation of EPCs into mature endothelial cells. In this study we investigated whether EPCs differentiate into arterial or venous endothelial cells in response to shear stress. When cultured EPCs derived from human peripheral blood were exposed to controlled levels of shear stress in a flow-loading device, the mRNA levels of the arterial endothelial cell markers ephrinB2, Notch1/3, Hey1/2, and ALK1 increased, but the mRNA levels of the venous endothelial cell markers EphB4 and NRP2 decreased. Both the ephrinB2 increase and the EphB4 decrease were shear-stress- rather than shear-rate-dependent. EphrinB2 protein was increased in shear-stressed EPCs, and the increase in ephrinB2 expression was due to activated transcription and not mRNA stabilization. Deletion analysis of the ephrinB2 promoter indicated that the cis-element (shear stress response element) is present within 106 bp 5' upstream from the transcription initiation site. This region contains the Sp1 consensus sequence, and a mutation in its sequence decreased the basal level of transcription and abolished shear stress-induced ephrinB2 transcription. Electrophoretic mobility shift assays and chromatin immunoprecipitation assays showed that shear stress markedly increased binding of Sp1 to its consensus sequence. These results indicate that shear stress induces differentiation of EPCs into arterial endothelial cells by increasing ephrinB2 expression in EPCs through Sp1 activation.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130065284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5352042
H. Nakauchi
Hematopoietic stem cells (HSCs) are best-studied stem cells and they have contributed a great deal for the development of stem cell biology. HSCs reside in a bone marrow niche in a non-dividing state from which they occasionally are aroused to undergo cell division. Using highly purified HSCs by flow cytometry, we have recently shown that cytokine treatment of HSCs led to polarization of the lipid raft marker GM1 ganglioside as well as to phosphorylation of Akt and relocation of FOXO3a to the cytoplasm. Lipid raft clustering induced by cytokines is essential for HSC re-entry into the cell cycle. Furthermore, based on a hypothesis that signals from the niche inhibit LRC and induce hibernation in HSCs, we screened candidate niche signals for inhibition of LRC. Among niche signals examined, transforming growth factor-β (TGF-β) efficiently inhibits LRC and induces p57Kip2 expression, leading to HSC hibernation ex vivo. These data establish the role of TGF-β as a niche signal in control of HSC hibernation and provide important clues to identify stem cell niche in bone marrow.
{"title":"Use of cytometry technology for the study of stem cell biology","authors":"H. Nakauchi","doi":"10.1109/MHS.2009.5352042","DOIUrl":"https://doi.org/10.1109/MHS.2009.5352042","url":null,"abstract":"Hematopoietic stem cells (HSCs) are best-studied stem cells and they have contributed a great deal for the development of stem cell biology. HSCs reside in a bone marrow niche in a non-dividing state from which they occasionally are aroused to undergo cell division. Using highly purified HSCs by flow cytometry, we have recently shown that cytokine treatment of HSCs led to polarization of the lipid raft marker GM1 ganglioside as well as to phosphorylation of Akt and relocation of FOXO3a to the cytoplasm. Lipid raft clustering induced by cytokines is essential for HSC re-entry into the cell cycle. Furthermore, based on a hypothesis that signals from the niche inhibit LRC and induce hibernation in HSCs, we screened candidate niche signals for inhibition of LRC. Among niche signals examined, transforming growth factor-β (TGF-β) efficiently inhibits LRC and induces p57Kip2 expression, leading to HSC hibernation ex vivo. These data establish the role of TGF-β as a niche signal in control of HSC hibernation and provide important clues to identify stem cell niche in bone marrow.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127539365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351954
T. Shimada, N. Fujita, Kaneyoshi Yamamoto, A. Ishihama
The pattern of genome transcription in prokaryotes is determined by selective distribution of RNA polymerase within the genome. The gene selectivity of RNA polymerase is modulated after interaction with DNA-binding transcription factors (TFs). Escherichia coli contains a total of about 300 TFs, but the regulatory function has not yet been identified for about one third. For quick and systematic search of the regulation target genes by TFs, we have developed a novel screening technology “Genomic SELEX”, in which the recognition DNA sequences by the test TF are isolated from a mixture of genome DNA fragments. The sequences were determined by either cloning-sequencing of SELX fragments (SELEX-clos) or high-density microarray (tilling array) analysis (SELEX-chip). Here we describe the application of these novel technologies for search of the whole set of regulation target genes on the E. coli genome by CRP (cAMP-binding protein).
{"title":"Genomic SELEX for the genome-wide search of regulation targets by transcription factors: SELEX-clos and SELEX-chip procedures","authors":"T. Shimada, N. Fujita, Kaneyoshi Yamamoto, A. Ishihama","doi":"10.1109/MHS.2009.5351954","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351954","url":null,"abstract":"The pattern of genome transcription in prokaryotes is determined by selective distribution of RNA polymerase within the genome. The gene selectivity of RNA polymerase is modulated after interaction with DNA-binding transcription factors (TFs). Escherichia coli contains a total of about 300 TFs, but the regulatory function has not yet been identified for about one third. For quick and systematic search of the regulation target genes by TFs, we have developed a novel screening technology “Genomic SELEX”, in which the recognition DNA sequences by the test TF are isolated from a mixture of genome DNA fragments. The sequences were determined by either cloning-sequencing of SELX fragments (SELEX-clos) or high-density microarray (tilling array) analysis (SELEX-chip). Here we describe the application of these novel technologies for search of the whole set of regulation target genes on the E. coli genome by CRP (cAMP-binding protein).","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117050386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5352007
Satona Motomura, Shohei Kato, H. Itoh
We describe a method of generating new motions associatively from unfamiliar indications. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis (NLPCA) and Jordan recurrent neural network (JRNN). First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using NLPCA. Last, the robot generates a new motion through calculation by JRNN using the associative values. Experimental results demonstrated that our method enabled a humanoid robot, KHR-2HV, to associatively generate some kinds of motion depending on given unfamiliar indications.
{"title":"Associative motion generation for humanoid robots based on analogy with indication","authors":"Satona Motomura, Shohei Kato, H. Itoh","doi":"10.1109/MHS.2009.5352007","DOIUrl":"https://doi.org/10.1109/MHS.2009.5352007","url":null,"abstract":"We describe a method of generating new motions associatively from unfamiliar indications. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis (NLPCA) and Jordan recurrent neural network (JRNN). First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using NLPCA. Last, the robot generates a new motion through calculation by JRNN using the associative values. Experimental results demonstrated that our method enabled a humanoid robot, KHR-2HV, to associatively generate some kinds of motion depending on given unfamiliar indications.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130902392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-11DOI: 10.1109/MHS.2009.5351965
N. Inomata, H. Maruyama, Takahiro Kato, F. Arai
In this paper, we proposed a microfluidic chip having a world-to-chip interface for multi-scale environmental measurement on a chip. There are several techniques for environmental measurement of the microscale objects using cantilever, microsensor and fluorescence method etc. Each technique has useful advantages against other methods. To employ these methods on a microfluidic chip simultaneously, we aim to develop a world-to-chip interface to insert a cantilever into the microfluidic chip and position it for sensing in a chip. We fabricated the microfluidic chip having this interface to insert the cantilever. This chip was designed to be used for inverted microscope. The solution does not leak from the interface by employing simultaneous flow control at both inlet and drain port. By using this interface, we demonstrated insertion and positioning of the cantilever into the microfluidic chip, and confirmed two-layer laminar flow control and detection of the local temperature change in the microchannel.
{"title":"Microfluidic chip with world-to-chip interface for temperature detection in micro-nanoscale","authors":"N. Inomata, H. Maruyama, Takahiro Kato, F. Arai","doi":"10.1109/MHS.2009.5351965","DOIUrl":"https://doi.org/10.1109/MHS.2009.5351965","url":null,"abstract":"In this paper, we proposed a microfluidic chip having a world-to-chip interface for multi-scale environmental measurement on a chip. There are several techniques for environmental measurement of the microscale objects using cantilever, microsensor and fluorescence method etc. Each technique has useful advantages against other methods. To employ these methods on a microfluidic chip simultaneously, we aim to develop a world-to-chip interface to insert a cantilever into the microfluidic chip and position it for sensing in a chip. We fabricated the microfluidic chip having this interface to insert the cantilever. This chip was designed to be used for inverted microscope. The solution does not leak from the interface by employing simultaneous flow control at both inlet and drain port. By using this interface, we demonstrated insertion and positioning of the cantilever into the microfluidic chip, and confirmed two-layer laminar flow control and detection of the local temperature change in the microchannel.","PeriodicalId":344667,"journal":{"name":"2009 International Symposium on Micro-NanoMechatronics and Human Science","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132267597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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