Accurate

-to- estimation with large heading angle error is difficult for homing guidance laws, especially for the impact time control. Considering this, a new cooperative guidance law which requires no -to- estimation is investigated. First, the impact time control problem is transformed to the look angle command tracking problem. The look angle command guarantees that the range-to-go error converges to zero asymptotically. Then the proposed guidance law considering the seeker’s field-of-view constraint is derived using sliding mode control to track the desired look angle signal. Numerical simulations are performed to verify the effectiveness of the proposed guidance law for one-to-one and many-to-one engagement scenarios.

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The present study aimed to examine the effects of community-based intervention on cognitive function and hand finger dexterity in older adults at different levels of

to out. Forty men and women (age, 73 ± 1 years) participated in supervised group activity and seated exercise for 60 min per session, once each week during an 8-week intervention. The participants wore an activity monitor for 1 week to determine baseline values and for the 8 weeks of intervention. Mini-mental state examination (MMSE) and pegboard test, which is related to cognitive function, were assessed before and after the intervention. Based on the total to out at baseline, the participants were assigned to Control group (> 60 min/day, n = 18) or Short group (≦ 60 min /day, n = 22), and then analyzed. After the 8 weeks of intervention, the Control and Short groups improved physical fitness parameters such as handgrip strength. Although MMSE in the both groups did not reach statistically significant level, these values tended to increase slightly from the baseline. Interestingly, two-way repeated-measures analysis of variance indicated significant interaction of pegboard test, and the score significantly increased only in the Short group. Total physical activity and moderate-vigorous physical activity in the both groups did not change significantly between the baseline and intervention periods. Therefore, these results suggest that the trainability of pegboard test, which is an index of hand finger dexterity and is related to cognitive function, would differ depending on the to out at baseline in older adults.

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[Purpose] The purpose of this study is to investigate effects of kinesio taping to the quadriceps femoris on functions of elderly women. [Subjects and Methods] The subjects of this study were 22 elderly women with osteoarthritis, who were divided into two groups of a general exercise group 12 elderly and a kinesiology taping group 12 elderly. Two groups underwent a 30-min exercise for strengthening the lower limb muscles three times per week for four weeks. After the exercise, the kinesiology taping group was treated by the kinesio taping. Kinesio tapes were attached to the quadriceps femoris, three times per week for four weeks. The Korean Western Ontario and McMaster Universities Osteoarthritis Index, sit to standing, and

up & test were used for assessment before and after the intervention. [Results] As a result, the kinesiology taping group showed significant differences in the Korean Western Ontario and McMaster Universities Osteoarthritis Index, sit to standing, and up & test between pre- and post-intervention, while the general exercise group showed no significant differences in pre- and post-intervention. There was a significant difference in between-group comparison. [Conclusion] The kinesio taping for the quadriceps femoris was effective on improving functions of elderly women with osteoarthritis.

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An explicit guidance law is developed for a reentry vehicle. Motion is constrained to a three-dimensional Bezier curve. Acceleration commands are derived by solving an inverse problem related to Bezier parameters. A comparison with pure proportional navigation shows the same accuracy, but a higher capability for optimal trajectory to some degree. Other advantages such as trajectory representation with minimum parameters, applicability to any reentry vehicle configuration and any control scheme, and -to- independency make this guidance approach more favorable.

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In this article, a guidance problem for cooperative salvo attack of multiple missiles against a single stationary target is investigated. The proposed guidance law combines the well-known PNG law and cooperative acceleration command, which is based on the feedback of state error between the current missile and the mean value of participant missiles. The state variable in this paper is used as the approximate calculation of

-to-. The cooperative acceleration command is designed to adjust the flight path and impact time, which leads the multi-missiles to hit the common target simultaneously. During the engagement, the velocities of missiles are not changed and presetting impact time is not needed. Simulation results show the effectiveness of the proposed guidance law.

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For the driving skill improvement, the superior body size or the muscular strength is not dominant, but the native equilibrium maintenance ability should be important. In this paper, the correlations between the driving skill improvement and the fall index (FI) were inspected. The driving skill improvement was defined as the difference of to around a racing car circuit. The single-seat, open-wheel formula car formulated in 2006 Formula SAE[○!R] was made by Kanazawa Univ. Formula R & D and was used for the test car. The training with a driving simulator was practiced to discriminate the FI. As the results, the average times to go around a circuit approximated to almost same in this training duration when the FI was same.

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The purpose of this study was to make clear the relationship between sleeping habits and sleeping problems and/or physical discomforts among junior high school students. The subjects were comprised of 146 boys and 170 girls in three public junior high schools. The investigation was carried out by a questionnaire in September 2003. The questionnaire contained questions about the subjects to bed, time subjects wake up, sleeping problems and physical discomfort. The main findings were as follows: 1) The subjects to bed becomes later with increasing age among both boys and girls (p<0.05). Meanwhile, the fluctuations in time to bed showed no significant differences according to sex or grade. 2) The group who went to bed late had significantly higher values for sleeping problem scores and physical discomfort scores (p<0.05). 3) The sleeping problem scores according to fluctuations in time to bed were: for the low fluctuations group, 12.5±13.7 points, 18.7±17.2 points for the middle fluctuations group, and 24.3±20.5 points for the high fluctuations group. The sleeping problem scores for the high fluctuations group were significantly higher than it was for the low fluctuations group (p<0.05). 4) The physical discomfort scores were 20.1±29.8 points for the low fluctuations group, 29.5±30.3 points for the middle fluctuations group and 41.3±30.2 points for the high fluctuations group. The physical discomfort scores for the high fluctuations group were significantly higher than those for the low and middle groups (p<0.05).
From the above, it was shown that there is a need for the regulation of time to bed to be added to traditional health education.

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For the transfer planning in a freight terminal, passage width is one of the main factors. Although three passage widths are important for transferring by a truck, there are very few reports about right-angled passage width. So the experiment is carried out mainly on the right-angled passage width by using a forklift-truck and a hand-truck. The summary of the results is shown below. 1. It is possible to arrange the experiment data of "delay time" by the intersection area without regard to inlet or outlet passage width. Here, "delay time" is defined as the difference time between the time to pass right-angled corner and the to straight the same distance on the same width passage. 2. It becomes possible to estimate the delay time from the truck velocity on straight passage and the product of the length and breadth of a truck.

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This paper proposes a new collision avoidance control law of aircraft. RCPA (Range of Closest Point of Approach) representing risk in the future and TCPA (CPA to ) representing current risk are used as risk functions. Also fuzzy logic is introduced to achieve the human maneuvering and to settle singular point and chattering problems that are shown in previous studies. Avoidance strategy consists of four main phases; course keeping, avoidance, parallel flight, and recovery phase; and three intermediate phases. Parallel flight phase and three intermediate phases are introduced to achieve moderate avoidance and smooth phase transition, respectively. Simulation results show that the proposed control law settles the past problems and achieves the smooth and adequate avoidance. This paper also discusses on the fuzzy evaluation method.

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This article deals with slub yarn which is manufactured on a spinning frame having a mechanism to speed up or slow down its roller speed from time to time. The authors theoretically discuss what happens to roller drafting when a roller speed is changed from time to . They on to clarify, on simple assumptions, that the formation of the slub portion occurs somewhat later than the change in the roller speed. The correlation among such factors as the size and length of slub portion, the staple fiber length of fed sliver, and the duration of speed-change in the roller has been experimentally computed. Various characteristics of the slub portion, such as the distribution of its twist, its quantitative distribution, its strength and elongation have been experimentally computed.

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This paper presents a new guidance law for a missile with constant acceleration. When target velocity and missile acceleration are constant, there exists the straight collision course which depends on the initial positions of a missile and a target. The presented guidance law guides a missile so as to fly along the collision course. The implementation of the guidance law needs the values of missile velocity vector, target velocity vector and the relative position vector between a missile and a target. If the measurement of these variables is difficult, this paper also presents the simplified method of constructing the guidance law by use of only the initial values of -to- and missile velocity, which are given from a launcher or a parent aircraft before launch. The performance of the presented laws is compared with that of the conventional proportional navigation using simulation studies of a planar model. The simulation results show that the magnitude of missile acceleration produced with the presented guidance laws are far smaller than that with a proportional navigation.

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In facilities where many trash cans are installed, such as large shopping malls and vast station premises, when collecting garbage, people regularly go around all the trash cans. However, it takes labor and

to around all the trash cans. If each trash can that needs to collect garbage can move autonomously to a specific position, the efficiency of collect garbage can be dramatically improved. In addition, labor costs for collect garbage can be reduced. Therefore, the purpose of this study is to mount a drive mechanism on the trash can installed in the facility and perform autonomous movement. However, if research is conducted on an actual machine without the self-position estimation technology being established, a large amount of assembly cost and time will be consumed, and progress may be delayed. Therefore, first, we will create a robot model to be used in simulation in virtual space and study self-position estimation using LIDAR.

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当施設では、平成13年度より通所リハビリテーション（以下、通所リハと略）において、パワーリハビリテーション（以下、パワーリハと略）の取り組みをはじめた。全対象者のうち19名に対して、握力・開眼片足立ち・体前屈・ Up & ・二分間足踏みの5項目の体力測定をパワーリハ開始前と開始一ヵ月後の二回行った。結果は、握力・体前屈・ Up & においてそれぞれ危険率５％、二分間足踏みにて危険率１％の有意な差を認めた。開眼片足立ちにおいては有意な差は認められなかった。また、体力測定対象者には含まれないが、日中の活動性が向上し行動変容を認める事例が見られた。今回、パワーリハという手法を用いて体力向上や行動変容というある一定の結果が得られ、従来の運動療法に加わる有効な手法の一つであることが示唆された。しかし、一方では基礎理論の構築・適応疾患の問題・マシーンプログラムの研究等、これからの課題も多く残されている。今後も、これらの課題を解決しつつ、高齢者の介護予防・自立支援の強化を図るためパワーリハの取り組みを続けていく必要があると考える。

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Some captains and pilots handling gigantic ships have some questions about the braking capacity of a windlass and say that they are very sensitive to letting go anchor with any ship's speed. The author analyzed theoretically on the braking capacity of a windlass to clear up these questions as to the following two cases. 1) the capacity of brake holding the falling anchor and cable in the water. 2) the capacity holding the tension of chain cable acting on a windlass when a ship, having some initial speed at the letting anchor, has made stopped by the operation of a brake. The results of the analysis and calculations are as follows: 1) The capacity of brake provided for the Japanese Industrial Standard (20% of the proof load of chain cable) is sufficient on both cases analyzed and we are able to handle a windlass of gigantic ship as same as on a conventional ship. 2) The pulling velocity of brake band affects the length of running out chain cable while the operation of holding anchor, falling down in the water, and it is necessary to have the pulling velocity of the brake band about 30 tons per second in the case of 200, 000 D.W.T. tanker. So it must be considered about the pulling velocity of brake band on the design stage of a windlass.

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At the access control of the security room, the many of methods of identifying individuals are based on the use of ID cards. But these methods have problems in the sense that persons must use their hands to input the cards into the card reader every they in and out. The authors have developed a method of identifying individuals by using the stereo image of the name plate which is usually clipped on each breast of persons in many offices. After obtaining the name plate image by the camera, it is necessary to calibrate three dimensional misalignments in the direction of the name plate, which were caused at the time images were obtained. Therefore the stereo-image is used for three dimensional calibration. The three dimensional calibration is carried out by transferring the name plate image to the image estimated that it would be obtained in the case of setting the name plate opposite to the camera accurately. The identification is accomplished by using a neural network. In this paper, the authors describe the results of the experiments which were performed to demonstrate the effectiveness of the proposed method.

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At the small land, like in Japan, it is not adequate to explain the relation between land and agricultural management studying only the relation between nature and agricultual crop. Important is the process of development in which, nature turns to the agricultural land or forestland.
About preservatiou of agricultural land the important problems are how to protest the agricultural land from flood, droght or soil erosion. They consider the natural and cultural reason of outbreak of damage and they are going to clearify the conditions hindering from restoration of field & establish the plan. At the problem of land improvement they study the irrigation of field, equipment to adjust water temperataue and drainage.
Altitude limit of the rice field is higher in southwestern and central Japan and lower in northeastern Japan. This is caused by climatical, technical or economical-social reason. Geographic study of water preservation tells us that water is well reserved in the rice field of independent farmers while bad in that of tenant farmers. The tenant farmers have few found and the farm would not become their holding even if they cultivate, so they could not deal with water-leaking or adjustment of floor. Even if they made “Nurume” temperature had not been raised effectively, because it took much to and come to their scattered farms, and they could not manage it as the labor power was wanted.

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