This paper describes the base mechanism of a human-friendly robot. The base has four omnidirectional wheels, and is covered by an air cushion bag to absorb collision forces. The collision force suppression method of its base is also discussed. When a collision between an object and the base occurs, the collision contact force is suppressed by the air cushion bag and the base moves to the collision direction by the suppression method. Through collision experiments, the effectiveness of the base mechanism and the suppression method is confirmed.

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15歳女子．10歳の学校検尿で初めて尿潜血・蛋白を指摘された．13歳時に全身浮腫を伴うネフローゼ症候群で入院となった．血尿，低補体血症を認め，腎生検を施行した．腎病理所見は膜性増殖性糸球体腎炎（MPGN）type3であった．ステロイドパルス療法とシクロスポリンの併用でネフローゼから脱却したが腎機能は低下した．治療開始1年後に2回目の腎生検を行い，腎毒性を認めたためシクロスポリンをミコフェノール酸モフェチルに変更したところ再びネフローゼ症候群へ移行した．治療抵抗性のMPGNであり，IgGサブクラスと軽鎖の染色を行ったところ，IgG3（λ鎖優位）のみ沈着を認め，proliferative glomerulonephritis with monoclonal IgG depositsと診断した．小児でも治療抵抗性のMPGNはIgGのサブクラスと軽鎖の染色を考慮すべきである．

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72歳, 男性. 1995年より維持透析中. 1999年2月左シャント肢に腫脹出現. 左鎖骨下静脈狭窄症の診断にて, 左シャントを閉鎖し右内シャント作製した. 2005年11月より右上肢に腫脹出現し, 2006年1月当院に紹介された. シャント造影の結果, 右シャント静脈本幹の狭窄および右鎖骨下静脈閉塞と診断した. 右鎖骨下静脈閉塞に対し右シャントおよび右大腿静脈より経皮的血管形成術 (PTA) を試みたが, いずれの手段を用いても病変部にカテーテルを誘導することができなかった. そこで二期的に右鎖骨下静脈に対しアプローチするため先に右上腕の拡張した深部静脈の表在化を行い, これを足がかりとしてPTAを遂行し, 閉塞解除に成功した.

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The aim of this theme is to find out a clue to the disclosure of the reclaimed land in the middle reaches of the Kino River, but its chief purpose is firstly to make a restorative research of the ancient land development or “jori chiwari” (land division) and secondly to restore the ancient landscape of the area. The area of this study is the middle reaches of the Kino River (Naga County) where the jori restoration still remains unrevealed.
The methods of study are;
1) drawing up of a map of the jori land division. 2) naming of the jori land division and finding out the possible location of Akinano-sho area. 3) jori land division and the topographical conditions. 4) its retation of irrigation. 5) the relation of “jori” with the Kokubunji Temple and with “go”.
(1) The distribution of jori in the middle reaches of the Kino River can be roughly parceled into 7 blocks. (Fig. 1, A∼G jori sections)
In the northern part of the river the main “jori” is made up of, the easy slope on the periphery of the composite fan which extends to the southern foot of the Izumi Mountains and the lower terrace. (Fig. 4)
In the southern part of the river, we also can find the remains of such jori in the flood plain of the Kishi River, a branch stream of the Kino River.
“jori” in the Kii Mountainous district extends as far as the Nogami Hachiman Shrine.
(2) In the north, the direction of “jori” way of land division adopts the Seihoi (ditches of land are in the direction of North, South, East, West) with the Kokubunji-Temple as its center.
In the upper reaches the maximan propencity is N14°W and in the lower reaches, N7°E. (Fig. 1)
But as a whole, the dircetion of the land division takes un-“seihoi” taking the shape of a fan.
This was influenced by the direction of the fan-shaped land on the northern bank.
But there are frequent occasions of each “jori” being in succession.
Each “jori” has the uniform characteristic in the north, while in the south “jori” is fragmentary.
It is clear that they divided the land by the unit of 1 “cho” (section) (Fig. 2) but in the inner part can we sea many indefinite and irregular shapes.
Only in the fan-shaped area, “haori”-shape variation and in the lower terraces “Nagaji”-shape variation are found.
(3) In the north, the upper reaches (Ito) and the lower reaches (Nagusa) have the same way of naming, that is, “jori” is divided into 25 “zu” (jo) from east to west, 7 “ri” from south to north.
The land belonging to the Kanshinji Temple and Akina-sho (a feudal manor) in the ninth century is presumably the “Shoiki”.
This investigation will disclose how the alluvial fan was reclaimed in Heian period, how “jori” was named in the Kahoku district, and provide basic material concerning archaeological views.
It is presumed that they adopted the way of naming based on “block”.
(4) As to the irrigation of “jori” paddy in the fan, in case of the basin of the Negoro River, the irrigation by the erosional valleys and ponds are thought to be old irrigation forms.
(5) The 2 square “cho” domain belonging to the Kiikokubunji Temple adapts the “seihoi”. And the boundary of the temple domain connects with the jori in the vicinity with the transitional type. (Fig. 6)
(6) The presumption of the location of 7 “go” of Naga county written in the “Wamyosho” will be submitted as a tentative plan (Fig. 2), taking the connection with the block “jori chiwari” into account.

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Historical documents show us that many Jinaichos were established around 1530's and '40s. So, I'd like to call them the second stage Jinaicho as well, the former ones of them, the first stage, the later ones, the third stage Jinaicho. I intend in this paper to clarify the process how the city plan has changed during these three stages.
At first, on the topographical condition of location, places where Jinaichos are located can be classified into, (1). Plateau or hill, (2). river-terrace, (3). natural levee, (4), low swamp. The third is a good place not only for Jinaicho, but also for any other settlement, however, the first and the second must have been for the protection of the town. In respect of topography, the defence of the town has become weak for ages. And, when Jinaicho was constructed, Jori system was utilized as basic lines in many cases. This rule is the most notable in the second stage.
Next, I consider the inside plan of the town from the following viewpoints. a, The scale of the town and its transformation…… The scale of Jinaicho tends to center especially upon some definite sizes, among them four square scale can be regarded as the “standard” size of Jinaicho. Moreover, we must not miss that the scale of the town is not necessarily original one, but can be found to expand or reduce in some cases. b. The position. of the principal temples…… The temple which dominates the town is almost situated at southern or western side of the town. c. How many moats enclose the town? d. Are the refraetions of roads in the town remarkable or not?…… I put up these two as the indicators which show the degree of the protective function of the district. As far as these two items are concerned, those protective functions remain even in Jinaichos established in modern ages. By the way, on the Japanese castle town, the district plan is considered at the level of “form of block” (machiwari), and “plotting of residental areas” (yashikiwari) (cf. Yamori “The Study of City Plan”).
Here, I'd like to approach the characteristics of Jinaicho at one more micro-scopic level, i.e, from the viewpoint of “house type”. Then we notice there are two types of Jinaicho. We find that one is where the residental district is made up of urbanstyle houses, and the other is fundamentally, the same type as farmhouses. Now, I temporarily call the former, “Urban” Jinaicho, and the latter “Rural” Jinaicho.
Such difference, is, I assume, caused upon whether agricultural factors have remained in the town or not. Considering not only above-mentioned a. to d. items, but also other factors, the pattern of Jinaicho's transformation can be summarized as follows; In the first stage, Jinaicho Plan have gradually been arranged, and completed in Yamashina, In the second stage, many Jinaichos are constructed according to its arranged plan. But in third stage, we can see the collapse of the plan, however, some Jinaichos, such as the inhabitants took initiative at the establishment of the town, succeed to the same plan as in the second stage. Moreover, we must pay attention to the geographical arrangement of Jinaicho, too. That is, the first stage is in the age of searching for the suitable place for construction, in the second stage, Jinaichos are constructed in the form of encircling Ishiyama.
Finally, there remains the problem to explain the relations between Jinaicho and other kinds of settlements, but I have not had my distinct idea upon this problem yet. Therefore I will take up this problem as my next theme.

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In this paper, motion control for omni-directional vehicle with ball wheels is considered. The proposed omni-directional vehicle has two ball wheels, and the actuators are arranged to X-direction and Y-direction in ball wheel. Hence, omni-directional vehicle has the ability to move in arbitrary speed and direction, and has also the ability to turn around the place. The proposed control system consists of the fixed gain feedback controllers and self tuning fuzzy controllers. To achieve improvement of responses, rules of fuzzy controller are automatically adjusted by a tuning law. To achieve improvement of mobility, the optical mouse sensor is installed on omni-directional vehicle for self-localization. The experimental results demonstrate the effectiveness of the proposed system for improvement of the movement performance of the omni-directional vehicle.

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Primarily Ryosei-gun _??__??__??_ had been established in the 7th century as a political administration unit in the Ritsuryo _??__??_ State or the Codes of Law and Ethics State of Ancient Japan. According to historical materials it is verified that about in the 10th century there had been brought on considerable change to this system. Having examinated its disintegrating transition on focus of the shiftinglocal aspects, the author tries to clarify the general rules of the features of the political administrative district as a historical region.
The conclusion is following:
1) Ryosei-Gun _??__??__??_ were often divided into two new smaller Gun _??_ in the 8th or 9th century. These newly born Gun consisted of the subordinate unit such as Go _??_.
2) In the 10th and 11th century, Ryosei-Gun _??__??__??_ were partitioned into several Gun _??_, Gô _??_, Jô _??_, In _??_, Agata _??_and so on. All of these local units similar to the Gun _??_unit were directly controlled by the Country Government (Kokuga _??__??_)and its subordinate unit, Go _??_itself also had been turned into small villages such as Go _??_, Mura _??_, Betsumyô _??__??_, Beppu _??__??_, Myô _??_ etc.
3) Thus it is explicable that, Ryosei-Gun _??__??__??_, separated from their administrative function, became only a local unit.

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In this paper the author have studied, from the histrico-geographical point of view that the function and morphology of a transportation settlement were changed chiefly by the advanced moder transportation.
The traffic of Kimitoge Pass in Kii province was began in 798 by the foundation of the Nankaido (public road). In Tokugawa shognate the public coaching station (Denmasyo) of Kisyu-Han was established at Kimitoge Pass (1648). Such feature went on the early part of Meiji-Era and this settlement have had the landscape of town.
At that time, main road beyond this pass was jisonin-road which had different course from present road.
The Denmasyo continued under the financial support and the protection of the Han and Koyasan Temple. Beside Honjin, Waki-Honjin, and this settlement had many inns and tea-houses.
It had lost, however, the characteristic as the key-point of traffic since the Kiwa-railway was established in 1900 and the Koya Tozan-raiway in 1915. Peoples who lived in the sttlement removed to Kutukake, Togesita settlements, and a part of them have come to commute to Osaka as laborers.

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The Kii-tanabe plain, located on the south-western coast of the Kii-peninsula, is a small delta which has filled up the drowned valley of the Aizu river. In this plain, there are many prehistoric and protohistoric remains that can be fortuitously used in estimating the time and paleoenvironment of the alluvial deposits. The auther classified the alluvial surfaces from the viewpoint of landform evolution, and tried to reconstruct the paleogeography based on analysing the physiographic environment and the archeological data of the human remains. The results are as follows:
The alluvial surfaces in this area can be divided into four surfaces: sand bar I, sand bar II, upper delta and lower delta. The paleogeography during prehistoric and protohistoric era had changed according to the steps outlined below.
(1) By the earliest Jomon, Oshigatamon stage (around 8000yrs. B.P.), the sea invaded landward and the shoreline receded about 2km behind that of the present day.
(2) With the progress of transgression, the embayment area spread over the Kiitanabe plain, and the blue-grey clay with shell was deposited on the bay-bottom.
(3) On the open coast, the sand bar I was formed just after the sea-level reached its highest point during the middle Jomon period (around 4400yrs. B.P.), while as to the inland region, it became a lagoonal environment, and humic silt, silt, or peat was accumulated.
(4) After slightly falling once, the relative sea-level rose slightly and the sand bar II was formed in front of the sand bar I. (probably around 2400yrs. B.P.)
(5) A regression which attained more than 2m below the present sea-level during the Yayoi period and which had been known in other regions, caused dissection of the sand bar I, sand bar II and upper delta. The lower delta composed of fluvial sand and gravel was formed along the present river.

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The urban growth of Wakayama City since 1955 is pursued after in this article from the view-point of population phenomenon. Wakayama City, the capital of Wakayama Prefecture, is situated, about 60km south from Osaka City, at the peripherial part of the Osaka Metropolitan Region, which is the second largest scope in Japan.
According to the primary consideration that the subject of the area study should be fully grasped through the comprehensive scrutiny between more than two different scales, first, it has started to deal with the theme of the urban growth from the two angles: situation and hierarchy, and then examined its autonomy and heteronomy. Consulting these indicatives such as commuting and attending school, shopping of personal effects and population drift, it has reached to the conclusion that Wakayama City has fulfilled its own autonomic urban growth to an extensive degree, although having been incessantly affected from the negative impact from Osaka City. Besides it, it is also pointed out, as main factors of such autonomic urban growth, the enlargement of population scale at the Sumitomo Metalworking Industry Wakama Plant, one of the most prominent coastal iron foundry in the world and its product amount of the blister steel per year is 6, 150, 000ton, as well as the urban functional expansion under the impact of the Plant's activity.
Next, in treating each 40 administrative sections as a unit area, the urban growth of Wakayama City is studied in the light of population growth rate, net migration rate and gross migration rate etc. Since 1960 following schema of circular structure has been perceived, centering on some spots at the inner part of the city as nuclei, where the sporadic depopulation is already coming out in the shape of doughnut. Several sections, where the population growth rate is lessening, spread around the central nuclear spots, and at the outer side there are distributed the more urbanized zone with denser population and higher migration rate; then at its further exterior place, expand the localities where just have presented the population increasing and ascending of the migration rate. Finaally, at the most peripherial outside of the city there are left the regions where still keep the reducing trend of population. For all that, these farm regions are already undergoing the influence of urbanization: the side jobs are considerably carrying on in commuting to the city. Thus, nowadays aerial and social structure of the farm village are speedingly transfiguring in the regional frame of the urban control from the city's side. Consequently, there is no doubt that the above-mentioned schema of circular structure is dynamic. The region of accumulated population divides into two divisions: the one is where the Sumitomo Metalworking Industry and its allied factories had brought about it as an immediate factor, the other is where it was turned up by other factors not directly doing with their industrial activities. This is the peculiarity of the urban growth in Wakayama City.

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