In this paper, indeterminate contact forces in robotic grasping and manipulation are investigated. Previous studies by Omata et al. showed that static friction forces in power grasps were constrained by rigid-body contact kinematics. The set of possible contact forces can be calculated using the constraint on static friction. However, their formulation generates paradoxical results on contact forces in some cases. In this paper, we study this problem and propose a modified method to calculate the set of possible contact forces, which can be applied to not only power grasps but also other robotic manipulation. The method excludes the above-mentioned paradoxical results successfully. In addition, a sufficient condition to reduce the computation for the method is derived.

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Calcium ion is required for ACTH to exert a lipolytic action on ratepididymal adipose tissue slices.Other metal ions such as Mg⁺⁺, Zn⁺⁺, Cu⁺⁺, Ba⁺⁺ and Mn⁺⁺ can not substitute for Ca⁺⁺.In the adipose tissue homogenate the action of ACTH disappears and calcium ion stimulates lipolysis.Besides, ACTH increases the incorporation of calcium ion into the adipose tissue slices.All these results suggest that the lipolytic effect of ACTH might be mediated through calcium ion.

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Since 1992, a local receiver for NOAA weather satellite (AVHRR) images has been used at IOS, Sidney, BC to map the sporadic bright patches in western North American (Canadian and adjacent US) coastal waters, which indicate the occurrence of intense plankton blooms. These events represent high concentrations of bloom organisms over wide areas, but have gone largely unobserved and unreported before the start of this program. A test of the software developed for this work using imagery collected in Korea and Taiwan, detected a similar event in the Yellow Sea in the fall of 1996. In September 1997, data from Seawifs became available, and are also being received at the IOS station. This imagery shows the existence of blooms over a wider range of seasons and in the central Gulf of Alaska. Nature of events is being confirmed by water samples and in-water observations.

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　既製服のネットワークや通信販売の普及と共に, 試着なしに体型にフィットする既製服を買ってもらうことは現在の既製服販売の重要な課題になってくる。従って, 本研究では巻尺で計った11項目の体型の判別分析を行い, 体に適合する既製服のサイズの分類パターンを作成した。研究結果により11項目の体型で判別関数を利用して, 体に適合する既製服のサイズの分類パターンを作成すれば, テストを受ける者の体型からはそれぞれに正しい既製服のサイズが分かる。判別関数の分類正確率は94.4%で, 本研究が作った既製服のフィットネス評価の特徴は簡易性と有効性であることが判明された。

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The maintenance of a system on a ship has limitations when the ship is engaged in a voyage because of limited maintenance resources. When a system fails, it is either repaired instantly on ship with probability p or remains unrepaired during the voyage with probability 1-p owing to the lack of maintenance resources. In the latter case, the system is repaired after the voyage. We propose two management policies for the overhaul interval of an IFR system: one manages the overhaul interval by number of voyages and the other manages it by the total voyage time. Our goal is to determine the optimal policy that ensures the required availability of the system and minimizes the expected cost rate.

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In this study a possibility was examined that the specific antigen might inhibit antibody forming cells in order to know whether a non-T-cell-dependent mechanism of selftolerance is present or not. If an autoantigen inhibits autoantibody forming cells, this inhibition may be one of the non-T- cell -dependent mechanisms of self-tolerance. Spleen cells from mice which were immunized with sheep red blood cells (SRBC) were incubated with SRBC and after an hour incubation erythrocytes added were removed. After 4 and 8 hr incubation, the plaques against SRBC were assayed by the plaque method. 1) After 8 hr incubation, SRBC reduced the plaque count to about 60% of the control aliquot incubating spleen cells with C₃H mouse red blood cells. 2) This inhibition required 1% SRBC suspension, but despite increase in its concentration to more than l% the degree of the inhibition remained constant. 3) This inhibition seemed to require neither T cells, macrophages nor the cells which display the cytotoxic activity in the antibody dependent cell-mediated cytotoxicity.

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Education on computing has become a certain key subject of“gliberal arts”.Everybody talk about its importance without taking part of it by themselves, leaving it on the shoulders of“experts”so called. Who might be, then, true experts for it? Could computer scientists be ones as they are currently supposed to? Probably not. All the university teachers must collaborate to make it a genuine part of liberal arts since computing is the very challenge to our intellectual activity itself, let alone to our daily life. Reporting on the current situation in Waseda University, the author discusses what should be done for tomorrow.

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Aims: Small-dense low-density lipoprotein (sdLDL) and malondialdehyde LDL (MDA-LDL) are considered more atherogenic than LDL. However, information on the major determinants of sdLDL cholesterol (sdLDL-C) and MDA-LDL levels in Japanese subjects without diabetes is limited.

Methods: This study included 870 non-diabetic subjects with a body mass index (BMI) <30 kg/m². All subjects underwent an annual health check-up that included sdLDL-C and MDA-LDL analyses.

Results: When subjects were stratified into four groups according to homeostasis model assessment of insulin resistance (HOMA-IR), sdLDL-C and MDA-LDL levels increased significantly, relative to the reference, with increasing HOMA-IR values, whereas LDL-C levels showed no consistent increase with increasing HOMA-IR. Multiple linear regression and logistic regression analyses revealed that LDL-C and triglyceride (TG) levels were major determinants of sdLDL-C levels, whereas LDL-C, sdLDL-C and high-density lipoprotein cholesterol (HDL-C) levels were major determinants of MDA-LDL levels.

Conclusions: Our data suggest that an increase in the LDL-C level and insulin resistance may lead to an increase in sdLDL-C levels and that increases in the LDL-C and sdLDL-C levels may lead to an increase in MDA-LDL in Japanese subjects without diabetes.

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Continuous extensive studies on thermophilic organisms have suggested that life emerged on hydrothermal systems on primitive Earth. Thus, it is well known that hydrothermal reactions are, therefore, very important to study fields deeply related to the origin-of-life study. Furthermore, the importance of hydrothermal and solvothermal systems is now realized in both fundamental and practical areas. Here, our recent investigations are described for the development of real-time and in situ monitoring systems for hydrothermal reactions. The systems were primarily developed for the origin-of-life study, but it was also applicable to fundamental and practical areas. The present techniques are based on the concept that a sample solution is injected to a narrow tubing flow reactor at high temperatures, where the sample is rapidly heated up in a very short time by exposure at to a high-temperature narrow tubing flow reactor with a very short time scale. This enables millisecond to second time-scale monitoring in real time and/or in situ at temperatures of up to 400°C. By using these techniques, a series of studies on the hydrothermal origin-of-life have been successfully carried out.

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The notion of multiple constant multiplication (MCM) is extensively adopted in digital signal processing (DSP) applications such as finite impulse filter (FIR) designs. A set of adders is utilized to replace regular multipliers for the multiplications between input data and constant filter coefficients. Though many algorithms have been proposed to reduce the total number of adders in an MCM block for area minimization, they do not consider the actual bitwidth of each adder, which may not estimate the hardware cost well enough. Therefore, in this article we propose a bitwidth-aware MCM optimization algorithm that focuses on minimizing the total number of adder bits rather than the adder count. It first builds a subexpression graph based on the given coefficients, derives a set of constraints for adder bitwidth minimization, and then optimally solves the problem through integer linear programming (ILP). Experimental results show that the proposed algorithm can effectively reduce the required adder bit count and outperforms the existing state-of-the-art techniques.

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The Glass Menagerie is an autobiographic work by Tennessee Williams. He describes Amanda as an image of his mother, Edwina and Laura as a model for his sister, Rose. The aspects of the Wingfields which are alive earnestly in spite of being separated from a realistic world, are similar to the ones of the Williams. They were afflicted with the mental conflict for sexual desire and the repression of it strictly. He was oppressed with the sense of sin as a homosexuality on his life, at the same time, and grieved over his sister who lost nomal consciousness on account of an operation for lobotomy. Therefore, the unicorn with a broken horn is symbolic of Tennessee Williams. He insists that this drama says " You ha ve your own separate world and your own separate standards of sanity to go with it. "

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国民価値観の多様化により，従来の経済効率性中心の国土・都市政策への限界が指摘されて久しい．近年，多くの国際機関，国で「幸福論」の指標化に関する取り組みが盛んである．わが国でも民主党政権下の2008年に政府が専門委員会に幸福の指標化に関する諮問を行ったが，その後，国レベルでの具体の動きはみられない．一方，自治体レベルでは多くの幸福指標取組みの動きがある．しかし，国土・都市政策に係る学術レベルでの十分な議論や導入実績が十分でないため，現在，自治体が検討のものは共通概念が不足し，政策指標との汎用性に欠ける．以上を踏まえ，本論文は，国土・都市政策における「幸福論」の適用可能性に関する実証的な研究を行ったものであり，その適用可能性に関する基礎的な知見を明示することができた．

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Security-Enhanced Linux (SELinux) is a useful countermeasure for resisting security threats to embedded systems, because of its effectiveness against zero-day attacks. Furthermore, it can generally mitigate attacks without the application of security patches. However, the combined resource requirements of the SELinux kernel, userland, and the security policy reduce the performance of resource-constrained embedded systems. SELinux requires tuning, and modified code should be provided to the open-source software (OSS) community to receive value from its ecosystem. In this paper, we propose an embedded SELinux with reduced resource requirements, using code modifications that are acceptable to the OSS community. Resource usage is reduced by employing three techniques. First, the Linux kernel is tuned to reduce CPU overhead and memory usage. Second, unnecessary code is removed from userland libraries and commands. Third, security policy size is reduced with a policy-writing tool. To facilitate acceptance by the OSS community, build flags can be used to bypass modified code, such that it will not affect existing features; moreover, side effects of the modified code are carefully measured. Embedded SELinux is evaluated using an evaluation board targeted for M2M gateway, and benchmark results show that its read/write overhead is almost negligible. SELinux's file space requirements are approximately 200Kbytes, and memory usage is approximately 500Kbytes; these account for approximately 1% of the evaluation board's respective flash ROM and RAM capacity . Moreover, the modifications did not result in any adverse side effects. The modified code was submitted to the OSS community along with the evaluation results, and was successfully merged into the community code.

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Sulphasalazine (SASP)による慢性関節リウマチの長期的治療成績をauranofin (AF)と比較検討した.短期的(3～6カ月)にはSASP群41例中8例が副作用のため脱落し,残る33例では79%が有効, 21%が無効と判定された. AF群39例では6例が副作用のため脱落し,残る33例のうち58%が有効, 42%が無効であったが両群間の有効率には差を認めなかった.しかし, SASPはAFと比べて疾患活動性,リウマトイド因子などを早期に改善した.さらに,両薬剤の治療継続率をKaplan-Meier法で検討した. AF群よりSASP群では治療開始9～18カ月の区間で有意に継続率は高値であったが,その後は両群とも約20%の継続率を示した. AFでは数カ月以後に蛋白尿の出現する症例を認めたのに対し, SASPの副作用は軽症のものが多く,しかも早期に出現した.これらの成績はSASPを遅効性抗リウマチ剤の第1選択薬として用いうる可能性を支持している.

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Animal models, including those employing the use of house mice (Mus musculus), are crucial in elucidating mechanisms in human pathophysiology. However, it is evident that the impreciseness of using laboratory mice maintained in super-hygienic barrier facilities to mirror relevant aspects of human physiology and pathology exists, which is a major limitation in translating mouse findings to inferring human medicine. Interestingly, free-living wild mice are found to be substantially different from laboratory-bred, specific pathogen-free mice with respect to various immune system compartments. Wild mice have an immune system that better reflects human immunity. In this review article, we discuss recent experimental findings that address the so-called “wild immunology”, which reveals the contrasting immune features between laboratory-raised mice and their wild companions as well as laboratory mice that have been exposed to a natural rodent habitat. A particular focus will be given to the development of pulmonary mast cells and its possible impact on the use of “naturalized” or “rewilded” laboratory mice as experimental asthma models.

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大学図書館は厳しい環境の変化に直面しており，利用者の図書館に対する認識は十分でない。大学図書館が積極的に自らのプレゼンス（存在）を主張するためには，従来の図書館広報を見直す必要がある。広報のターゲットとしてステークホルダー（利害関係者）の存在を意識し，マーケティング手法の導入によって対象のニーズを把握することで，図書館に対する認知と支援を獲得することが可能となる。あわせて，北米研究図書館協会（ARL）による調査報告と米国図書館協会（ALA）によるキャンペーンについて紹介する。

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