It is a well-known fact that the various muscular movement as one of the human body functions is essential for physical fitness and these movements have been observed in various experimental studies. The muscular movement research as a basic academic area for physical education through the fundamental kinetic method on human movements should play increasingly more important part. The purposes of the study were (1) to establish the method for measuring the control-ability which has never been designated clearly before, (2) to find out the suitable method for calculating the muscular components quantitatively, and (3) to prepare the apparatus of the motor control amplifier by which three mechanical loads will be manufactured continuously. The "control-ability" in the limb muscular movement has been thought to be the main part for regulation of physical activities, but its evaluative method to calculate the quantity of regulative elements, which constitute of three components; elasticity, viscosity and mass inertia, have not been developed yet. The dynamic properties of muscle contraction and its neural control were successfully carried on by numerous physiologists^<8)>, who mostly performed on animals applying the isometric contraction. In our method, the living upper-extremity was used in the examination, to which a special control device was attached with the greater power relative to that of the muscle. The neuromuscular control response was recorded as a variance of the directed control values which are also called "error variables". This type of stimulus has been found to be convenient in order to evaluate the characteristics; (a) of muscle properties, (b) of muscle control-ability, and (c) of the myotatic reflex. This sort of study on the limb control movement should be carefully followed up further in future. The device also was utilized in man to calculate his pursuit or tracking capability as the human operator, and to compare the normal human power with the given power on the apparatus. An essential part of this device was that the lengthening of the muscular group could be recorded when the amplitude in voltage between the external force applied and the force in kilogram exerted by the muscle differed. In this paper the limb muscle contractions are dealt with, for the existing methods and instruments seem to be lacking mechanical accuracy and qualitative measurements. Considering the defects involved in the existing methods for the neuromuscular control capacity of man, a new apparatus to measure more accurately and more quantitively has been developed by the authors, which proved to well-stand to elaborate measurements of muscular control.

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Disasters, man-made as well as natural environmental events, pose a local and global public health challenge. To address the impact of all forms of disaster and mass casualty events, disaster training must be incorporated into the curricula of healthcare programs. This article describes how one university integrated disaster training through use of a spiral curriculum approach and simulation methodology.

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This paper would explain concept and system of innovative train control and communication network for Shinkansen train, then examine best balance of performance, reliability, system redundancy, backup system, weight reduction and total cost performance. Test results of data communication on actual Shinkansen train set are also introduced. Finally, we would propose new total and optimum train set control method with train control and communication network for future Shinkansen trains.

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The flight dynamics subsystem (FDS) of a geostationary satellite ground control system conducts estimates of the orbital states, keeping within its mission box, and calculating the satellite operational parameters to be uploaded. A new FDS has been designed and implemented by dividing it into core- and bus-dependent modules for a recent Korean geostationary satellite ground control system. The core modules include orbit determination and prediction, event prediction, and station-keeping and relocation (SKR) planning; whereas the bus-dependent modules include fuel accounting, thruster modeling and maneuver reconstructions of SKR, and calculate all of the bus-dependent parameters. In particular, separate designs based on the components of the SKR planning and maneuver reconstruction using thruster modeling allow the system to be reusable and replaceable. We also designed and implemented a conjunction analysis tool and collocation control and monitoring units for multiple-satellite control. A FDS database has been developed and is managed using SQLite, which is freely distributed. The FDS is easy to develop and operate thanks to a novel separation concept introduced for the core-platform and spacecraft bus-dependent modules. It is the same concept used for operation and the graphical user interfaces (GUIs) applicable to the FDS. All of the FDS modules for new geostationary satellites have been validated through function and performance testing, and have proven to work successfully after the launch of satellites.

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Aim: Immunologic dysfunction was recently found to be one of the most important mechanisms underlying the initiation and development of atherosclerosis. Thymus involution can contribute to immune disturbance and disequilibrium of T-cell subsets. This study aimed to explore whether recent thymic emigration (RTE) is impaired in patients with coronary artery disease (CAD).
Methods: Content of signal-joint T cell receptor excision circles (sj-TREC) in T lymphocytes, a molecular marker of RTE, was assessed among CAD patients and age-matched controls. Monochrome multiplex quantitative PCR method was used to assess the samples' telomere length in order to exclude the potential influence of T cell proliferation on the dilution of sj-TREC. Patients were grouped according to Gensini score (GS) (low, GS ＜18; intermediate, GS 18–41; high, GS ＞41). Ordinary logistic regression models were used to determine potential risk factors for CAD and GS tertiles.
Results: Average copy numbers of sj-TREC per 10⁶ T lymphocytes among patients with unstable angina, stable angina, and controls were 726±429, 1213±465, and 1795±838, respectively (P＜0.001). However, there was no significant difference in telomere length among groups. Moreover, the content of sj-TREC in the high GS group was most significantly reduced than the low GS group (P＜0.001). Multivariate logistic regression analysis revealed that lower sj-TREC was independently associated with the progression of CAD (OR=0.44, P＜0.001) and higher GS (OR=0.4, P＜0.001).
Conclusion: Impaired RTE could be partly responsible for CAD development. Mechanisms may be involved in the disturbance of T lymphocyte compartment and interruption of maintained immune tolerance resulting from thymus involution.

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Once a great natural disaster occurred, traffic systems and life-lines in land would be cut everywhere. So it would be difficult to run and reach by land to the place where the disaster had occurred. Our country, Japan, is surrounded by the sea. It seems, therefore, to be reasonable to run and reach by sea for rescue activity. We carried out feasibility planning of the "Disaster Rescue Supporting Fleet". Our fleet is constituted of a ship with reconnaissance boats and helicopters, a car-landing ship and heavy car carriers, a heli-port ship, and so on. Bases of the fleets should be set at the places from where the fleets would be able to reach to any one of the representative cities in Japan, within 6/12 hours by the speed of 20 knots. Our fleet must be operated by the specialists, both in the fields of operations and of rescue activities. To maintain such the specialists in groups for emergency, we propose "registering system for the specialists" both in the public and in the official. We do hope that this concept should be discussed among all of the Japanesea and would be studied further by those who have some interests.

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Ecology of many species of whales are not knownbecauseof their wide scope of activities.We are building a new system to reveal their migration pattern and living style in the sea. This system is composed of three segments: a dedicated small satellite in a polar orbit of 1000km high, probes at tached to many whales in various oceanic regions, and a ground station for tracking, telemetry and of the satellite. In each probe a GPS receiver for obtaining the position on the sea surface, and several sensors (pressure, temperature,geomagnetic field and acoustic signal) to detect the environment under the sea are installed. When the whale surfaces these data are sent by UHF band telemetry transmitter to the satellite. The satellite stores the data in a memory after the reception. When the satellite enters in the visible rangeof the groundstation, it sendsout a signalinVHFband, and the storeddata in the satellite are transmitted to the ground station in L-band telemetry. The electric power needed for the probeoperation will be generated by utilizing the motion of whale,in whichAGSsystem devel opedby Seiko-Epson Co. for a wristwatch will be applied. Ecological data of whaleswith individual identification code will be retrieved on the ground. This system is in a process of construction in the Chiba Institute of Technology, expecting the launch of the satellite in 1998-1999. To realize this system attachment of probes to whales is indispensable. Based on fundamental studies on the attachment, application of a small harpoon shot by an airgun is most promising.To achieve a long term (l-2years) observation, attachment to a livingbodyshouldbe as gentleas possile. To attain tight fixing of the probe a set of barb plane strips madeof Ti-Ni shape memory alloy is attached at the top of the harpoon, whose phase transition temperature is chosen to be30°C, and the shape in the higher temperature is so designed as to bea quarter circle, by which the pressure of the barbagainst the fascia is reduced andthis fact will beeffective to avoidthe necrosis. Usage of a kind of medicineto avoid infection, and a proper surface treatmentof the harpoon material for improving the affinity withliving tissues are alsoconsidered. Sincethe thermal timeresponse of thebarbis very important fordefining the attachment procedure, thethermal time constant of barb plate is calculated basedon the configuration underdesign, and a practical operational scheme is proposed.

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In this study group, we are developing a micro air vehicle (MAV), which is equipped with an automatic flight control system and a camera, for the purpose of performing rescue/relief tasks in natural disasters, security surveillance and observation tasks. MAV, however, has a limited performance due to its low payload or short duration of flight. On the other hand, unmanned ground vehicle (UGV) research and development is being pursued actively in Japan and overseas. Unlike MAV, UGV has a long continuous run time and a relatively bigger payload. It can carry many kind of equipment and play an important role in rescue. Therefore, we proposed a UGV that can assist the MAV, to make effective usage of our MAV in scenes. The UGV needs WayPoint and Mapping system. This paper shows Mapping using SLAM and WayPoint of UGV.

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This research is concerned with torque compensation for nonlinear servosystem using H-infinity robust estimator. The nonlinear friction is one of the important obstacles to high-speed and high-accuracy of servosystems. Until now, the effective methods have been proposed to carry out the compensation of nonlinear friction using observer. However, these methods are not applicable to the practical use, as the real system has not necessarily white noise processes and includes varying parameters due to the effect of load inertia. In order to overcome these problem, the H-infinity robust estimator is used to construct the servosystem with torque compensation. Through simulation experiments, it is verified that good estimation of torque can be obtained by the use of H-infinity robust estimator, and high-accurate position control can be realized by the torque compensation.

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This paper focuses on back-forward drivability and defines the ideal drivability. This paper proposes a new back-forward drivable control method that achieves vibration suppression while maintaining back-forward drivability for a two-inertia system. The proposed control system combines torsion torque control (TTC) and a motor-side normalization compensator (MNC) to facilitate human-robot interactions. The effectiveness of the proposed control system is verified based on numerical simulation and experimental results, and the vibration of the back-forward drivable response is drastically suppressed.

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A new control design framework for vibration control, the hybrid control of active and semi-active control, is proposed in the paper. In the hybrid control framework, structural systems having both of an actuator for active vibration control and a semi-active control device, e.g., MR damper etc., is defined as the control object. In the proposed control approach, the higher control performance is aimed with the hybrid manner between the actuator and the semi-active control device. A design method to determine the active control law and the signal of the semi-active control device based on the one-step prediction of the control output is proposed. A design example of the vibration control for a base-isolated building is presented to show the effectiveness of the proposed control framework.

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アメリカ合衆国東部(マサチュセッツ州ほか)に産するミズゴマツボの1種, Hydrobia totteniについて主に解剖学的観察を行い, 陰茎の構造, 頭背部色素胞, 歯舌等の特徴から極めて近似とされている欧州産H. ventrosaと比較した結果, 次の諸点から別種であることが立証された。歯舌数を統計的にとり扱った結果, 本種は歯列数が少く且つ狭い。又H. ventrosaとは左触角の繊毛肥大と触角上に色素点がある点のほか中歯の基底部突起の構造の相違および縁歯の歯尖数が少い点からも種的相違があると判断された。このほか雄性生殖器と神経系, 形態的特徴からPomatiopsinae亜科の属とは区別されHydrobiinae亜科の代表的な種であることが明らかにされた。

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To suppress two-dimensional load sway caused by the horizontal boom motion of a rotary crane, both horizontal and vertical boom motions are generally used. However, it would be more energy efficient and safer if a control scheme is developed that only used horizontal boom motion, eliminating the need for any vertical boom motion. In addition, if we can suppress load sway without the need to measure it, reduction in the cost of sensors can be achieved. Furthermore, use of simple velocity trajectory patterns such as a trapezoidal velocity pattern and an S-curve acceleration/deceleration pattern, which are widely used in industrial automation systems, may provide cost-effective implementation of controllers. This study examines the analytical conditions for a simple S-curve trajectory of horizontal boom motion to suppress residual load sway without sensing it. Numerical simulation and experimental results demonstrate the effectiveness of the proposed conditions.

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This paper discusses operation characteristics of discontinuous current mode (DCM) for an ac-dc isolated converter for on-board battery chargers of electric vehicles. The converter discussed in this paper consists of a front-end diode-bridge rectifier, an active energy buffer, and a dual-active-bridge dc-dc converter. The energy buffer circuit absorbs the power pulsation from the single-phase ac line into a small-rated capacitor, and thus, makes it possible to reduce a required capacitance of the dc-link capacitor. This paper explains details of the DCM control method including a technique of the ripple cancel of the inductor current, to realize the power factor correction of the line current and the voltage control of the buffer capacitor at the same time without complex calculations. Then, a reference value of the inductor current and an operation range of the dc-output voltage are discussed. Experimental results obtained by a 220-V, 6.6-kW experimental setup demonstrate a sinusoidal-line current and a controlled buffer capacitor voltage as well as a smoothed dc-output current.

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飛翔体・航空機の追跡・回避微分ゲーム問題はいろいろ研究されているが，解法が非常に難しいために，これまでの研究の大部分が非常に単純化したモデルを用いたり，線形化近似したり，また最短時間問題として問いたりしていて工学的な観点からの価値が見られない。この問題の本質的な評価関数は最接近時の会合誤差である。本研究においては実用的なレベルのモデルを用いて会合誤差を評価関数とする微分ゲーム問題の一解法を提案し，具体的な解を示した。

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In this paper a parallel neural controller for the automatic berthing will be discussed. This controller has separated hidden layer that outputs the engine and rudder respectively. A general neural network that used in berthing just has one set of hidden layer, but authors proposed parallel hidden layer. The effect of this parallel control produced good results in comparison with conventional neural controller. Furthermore many simulations conducted in this paper have different initial situations with the teaching data. In other words, starting parameters such as heading angle, ship's positions, are not same with the teaching data. But they produced successful results. Finally some simulations are conducted under slight disturbance conditions such as wind conditions and current conditions.

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This paper proposes a method for simultaneous laser energy transmission and motion control of micro vehicles. Both the energy transmission and the remote control are achieved simultaneously with the same light path of two lasers. A green laser and a laser diode are used independently for the navigation and the energy transmission, respectively. Core technology of the system is the laser tracking, in which the direction of the tracking laser beam is changed by a galvano mirror so as to keep chasing the position of the corner-cube reflector mounted on the vehicle. In addition, by using a pulsing oscillation of the tracking laser, the vehicle is able to receive operation commands as a frequency change of the pulse. A beam of the laser diode runs parallel to the tracking beam and is radiated to the solar cells mounted on the vehicle. Then the photoelectrically converted power is supplied for the DC motors and control circuits on the vehicle. Experiments with a small wheeled-vehicle were conducted, and the results show that proposed system exhibits sufficient performance for controlling and supplying power to the micro vehicle.

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Background The aim of the China Cholesterol Education Program is to investigate the blood lipid levels, the statin intervention and the rates of achieving the goal of low-density lipoprotein-cholesterol (LDL-C) level in Chinese outpatients with coronary heart disease (CHD). Methods and Results The multicenter study recruited 4,778 outpatients with CHD. The mean level of LDL-C for the total outpatients was 2.93±1.00 mmol/L; 82.2% of the participants received statin therapy. The LDL-C levels were 3.06±1.08 mmol/L and 2.89±0.97 mmol/L in outpatients with high risk and very high risk, respectively (p<0.001). No significant difference was found about the rates of statin intervention in outpatients at high risk and very high risk (81.4% vs 82.5%, p>0.05). Though they had higher rates of statin intervention, only 36.2% of the high-risk outpatients achieved the target LDL-C level (<2.6 mmol/L); 10.9% of the very high risk outpatients achieved the optimal LDL-C level (<1.82 mmol/L) suggested by NCEP ATP III. The rate of achieving the target level was only 42.2%, even though LDL-C <2.6mmol/L was the goal for patients at very high risk. Conclusions Although the outpatients received a higher rate of statin therapy, the rates of achieving the target cholesterol level were lower. There is a significant gap between the guidelines and clinical practice in China. (Circ J 2008; 72: 2040 - 2045)

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It is important to consider the environment for realizing stable contact motion, such as direct teaching for polishing motion including contact with environment. To realize stable contact motion without bouncing, the velocity and acceleration should be brought to zero after contact with the environment. This study focuses on the torque-velocity duality and a two-spring system is constructed using motor-side velocity control for a two-inertia system with environmental considerations. An equivalent resonance ratio control (ERRC) is proposed to suppress the vibrations in a two-spring system. This method achieves the same scheme as the resonance ratio control applied in position control. A force impulse control is applied based on the ERRC for stable contact motion without bouncing. Stable contact motion is realized in all numerical simulations and experiments.

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Acute mountain sickness is caused by sub-acute hypoxia in healthy individuals going rapidly to altitude. Both tissue hypoxia in vitro and whole-body hypoxia in vivo have been found to promote the release of reactive oxygen species. Nitronyl nitroxide can trap free radicals such as ·NO or ·OH, and may therefore be efficient protective agents. This study assessed the ability of nitronyl nitroxide to against acute mountain sickness as a free radical scavenger in acute high-altitude hypoxia mice model. Normobaric hypoxia and hypobaric hypoxia model were used to estimate the protect effects of nitronyl nitroxide against acute mountain sickness. Low pressure oxygen compartment system was used to stimulate high-altitude hypobaric hypoxia environment. Mice in nitronyl nitroxide groups survived longer than acetazolamide group in normobaric hypoxia test. Hydrogen peroxide (H₂O₂) and malondialdehyde (MDA) increased in both cerebrum and myocardium in vehicle group. The results indicated more radicals were generated during high-altitude hypobaric hypoxia environment. In therapeutic groups H₂O₂ and MDA were significantly reduced while the activities of superoxide dismutase (SOD), glutathione peroxidase (GSH-Px) and catalase (CAT) were similar to normal group. These results demonstrated that nitronyl nitroxide was an efficient tissue radical scavenger and a potential protective agent for acute mountain sickness.

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