A self-balancing unicycle robot, which has a wheel for balancing and moving in the longitudinal plane (pitch angle) as well as a vertical flywheel for balancing in the lateral plane (roll angle), is studied in this paper. The non-linear dynamic equations of the unicycle robot on slope are analyzed using the Lagrangian dynamic formulation, then a linear model of the robot is derived at the equilibrium point, and linear quadratic regulators (LQR) are designed to control the robot on slopes with the angle of inclination varying from -11° to 11°. Simulation and physical experiment results validated that the unicycle robot can achieve good performance both on level plane and on slope. As far as we know, this is the first report of an autonomous unicycle robot moving and balancing on slope.

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Nagoya City initiated a public subsidy program for mumps vaccination using either the Torii or Hoshino strains in August 2010. To determine the effects of the program, we used publicly available information from Nagoya City to investigate the changes in immunization rates and numbers of patients who developed post-immunization adverse reactions, including post-vaccinal aseptic meningitis, in the 7 years since its initiation. We also investigated the numbers of mumps patients reported by sentinel sites in a national database during this period. The immunization rate in one-year-old children increased from 24.3% before the program to 91.0% after 7 years. The mean numbers of reported mumps cases per sentinel site in one-year-old to preschool children–the age groups targeted by the program– were 12.9 in the 7 years before the program and 4.93 in the 7 years after initiation of the program, showing a significant decrease of 1/2.6 (p = 0.01). The number of vaccinations during the 6.5-year period was 140,316, with only one case of aseptic meningitis reported (0.7 cases/100,000 vaccinations). No other serious adverse reactions were observed. The present findings demonstrate that the public subsidy program in Nagoya City is an effective and safe measure against mumps in children.

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King Lear gives his all to Goneril and Regan, but is betrayed and goes mad, leaving him in a state of nothing. However, Lear regains his sanity through the devoted support of the Fool, Kent, and by being reunited with Cordelia. The Fool predicts a future portraying an ideal Britain, where class distinctions disappear and everyone walks as equals. The French king’s oxymoronic expression “forsaken to be most regarded, unloved to be most loved” refers to the relativity of the two concepts, saying that there is no absolute standard. Lear is reconciled with his beloved daughter Cordelia, but his joy is short-lived, as she is murdered not long after they reunite. He feels a deep sense of loss and loses his life in shock.
Shadrack also loses everything and falls into nothingness and begins to lose his mind, but from a black person’s perspective he sees the truth. On her deathbed, Sula, like the Fool, predicts a future where love is unconditional. The words “the robin shit” and “a movie star”, which represent beauty, ugliness, good and evil, represent the fusion of two concepts, as in the lines of the King of France. Shadrack can relate well to Sula, and views her like a daughter to him, but his happiness is short-lived when she dies. Shadrack also feels a sense of loss, but his sick mind recovers sufficiently to be able to comprehend the feeling of loneliness.
The concepts of good and evil, which seem to be at odds in King Lear and Sula, are not in conflict. To endure and suspend judgement between the two concepts means that Lear’s world of madness eventually turns into the world of truth, the invisible world of the people of Bottom into the visible world, the seemingly opposing and contradictory dichotomies¹ merge, and despair turns into hope. Thus, it can be said that Sula is a work that embraces the themes of King Lear.

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The physiology of intestinal motility in Pseudo-Hirschsprung's disease is obscure. We modified intestinal manometric methods for use of children and have studied the intestinal motility in three cases (hypogenesis 1, CUPS 2). The simultaneous phase III like activity appeared in hypogenesis of a 1-year-oldgirl and it changed to random spike contraction of low amplitude at her 2 years of age. It has not improved yet after 3 years follow up. And the low amplitude non-propagated rhythmic contraction was observed in a case of CIIPS. The lack of the phase III of migrating motor complex (MMC) in these two might cause enteritis because of the lack of "housekeeper" funciton of the phase III. In the other CIIPS, frequent occurrence of the phase III of MMC and absence of a MMC-reaction to the feeding were observed. The foumer might be a manometric finding in a type of CIIPS. The characteristics of manometric changes in the three were different form MMC in the reported normal children. We conclude the upper intestinal manometry is a useful examination of the intestinal motility in Pseudo-Hirschsprung's disease and can direct a proper treatment of this rear disease.

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Nonlinear filters have been applied in image restoration. In nonlinear filters, a neural filter was proposed for reducing mixed Gaussian and impulse noises. However, in the case of mixed Gaussian and high probability impulse noises, the performance of neural filter is significantly reduced. In this paper, we propose a filter for removing mixed impulse and Gaussian noises using Trimmed filter and neural filters. Carrying out the simulation, we illustrate the peak signal to noise ratio of the proposed filter, and show that it is effective in removing mixed impulse and Gaussian noises.

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This paper motivates the typological framework dubbed “dynamic functional typology” in terms of its utility in the description and analysis of classifiers and gender marking, which, we contend, have been mishandled by leading researchers in the field. The advantage of functional typology over the form-based, holistic typology presupposed by the WALS survey of numeral-classifier languages is demonstrated by its ability to bring to light a large-scale methodological limitation inherent in the past treatments of classifier/gender marking. In particular, it exposes numerous classifier/gender-marked constructions that do not accommodate a head noun functioning as a gender-agreement controller (Corbett 1991), or for a classifier to individuate the nominal referent for the counting purpose (Greenberg 1974) or to categorize the referent of the head noun (Allen 1977, Aikhenvald 2019). In place of the traditional analysis of classifier/gender-marked forms taking their modification use (e.g., Mandarin [yī zhǐ] ɡǒu ‘[one CLF] dog’, Spanish [una] casa ‘[one.F] house’) as a starting point of analysis, we take a radically different nominalization approach that analyzes such classifier/gender-marked forms as [yī zhǐ] and [una] in their own right, as nominalized constructions denoting respectively “one animal-class thing” and “one feminine-class thing”, independently from the head noun, which may not exist. A need to dynamicize functional typology arises in accounting for both crosslinguistic variation and language-internal crossconstructional/ functional variation of classifier/gender-marking. We offer a two-dimensional structural/functional hierarchy that provides a fine-grained comparative framework that both constrains the synchronic distribution patterns and predicts historical developments of classifier/gender marking across constructions, functions, and languages.

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選好依存文法 (PDG: Preference Dependency Grammar) は, 自然言語の形態素, 構文, 意味解析を統合的に行う枠組みであり, 各レベルの種々の曖昧性を統合的に効率良く保持し, 各レベルの知識により優先度を設定し, 全体解釈として最適な解を計算する.本稿では, PDGの基本モデルである多レベル圧縮共有データ結合モデルとPDGの概要について述べるとともに, 選好依存文法で用いられるヘッド付き統語森, 依存森といった言語解釈を統合保持するデータ構造とその構築手法について説明する.また, 文の句構造を圧縮共有する統語森と依存構造を圧縮共有する依存森との対応関係において完全性と健全性が成立することを示す.

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