17400401
On-line Optimization of Avoidance Ability for Redundant Manipulator
This study is intended to build a controller of redundant manipulator with the simultaneous ability of trajectory tracking and obstacle avoidance without any preparation of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from obstacle to reduce the possibility that the manipulator crashes to the obstacle. To evaluate the avoidance ability of the intermediate links, a scalar value of avoidance manipulability shape index (AMSI) was proposed, which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper just proposes a control method of the manipulator's shape based on avoidance manipulability shape index with potential (AMSIP) to simultaneously avoid obstacle and keep the avoidance ability high while tracking the hand trajectory
19316869
Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking
A vapor generator in which a plurality of tubes are connected together and arranged to form at least a portion of the boundary walls of a gas-tight enclosure. Portions of the tubes are bent to form a plurality of openings extending through at least one of the boundary walls. Some of the bent tube portions extend around the openings in the plane of the wall, and others of the bent tube portions extend out of the plane of the wall. The tubes, including the bent portions, extend at an angle with respect to a horizontal plane for their entire lengths to enable the tubes to drain. A burner is associated with each opening to apply heat to the enclosure, and fluid is passed through the tubes to apply heat to the fluid.
40230600
Automated Discovery of Functional Components of Proteins from Amino-Acid Sequences Based on Rough Sets and Change of Representation
Protein structure analysis from DNA sequences is an important and fast growing area in both computer science and biochemistry. Although interesting approaches have been studied, it is very difficult to capture the characteristics of protein, since even a simple protein are made of more than 100 amino acids, which makes biochemical experiments very difficult to detect functional components. For this reason, almost all the problems in this field are left unsolved and it is very important to develop a system which assists researchers on molecular biology to remove the difficulties caused by combinatorial explosions. In this paper we report a system, called MW1 (Molecular biologists' Workbench version 1.0), which extracts knowledge from amino-acid sequences by controlling application of domain knowledge automatically. We apply this method to comparative analysis of lysozyme and α-lactalbumin. The results show that we obtain several interesting results from amino-acid sequences, which have not been reported before.
13251860
On the power of membrane division in P systems
First, we consider P systems with active membranes, hence with the possibility that the membranes can be divided, with non-cooperating evolution rules (the objects always evolve separately). These systems are known to be able to solve NP-complete problems in linear time. Here we give a normal form theorem for such systems: their computational universality is preserved even if only the elementary membranes are divided. The possibility of solving SAT in linear time is preserved only when non-elementary membranes may also be divided under the influence of objects in their region.Second, we consider a slight generalization, namely, we allow that a membrane can produce by division both a copy of itself and a copy of a membrane with a different label; again, only elementary membranes may be divided. In this case, we prove that the hierarchy on the maximal number of membranes present in the system collapses: three membranes at a time are sufficient in order to characterize the recursively enumerable sets of vectors of natural numbers. This result is optimal, two membranes are shown not to be sufficient.Third, we consider P systems with cooperating rules (several objects may evolve together). Making use of this powerful feature, we show that many NP-complete problems can be solved in linear time in a quite uniform way (by systems which are very similar to each other), using only elementary membranes division (and not further ingredients, such as electrical charges). The degree of cooperation is minimal: two objects at a time.
1841722
A New Algorithm for Analysis of Within-Host HIV-1 Evolution
A new algorithm for inferring the evolution of within-host viral sequences is presented. A sequential-linking approach is developed so that a longitudinal phylogenetic tree can be reconstructed from sequential molecular data that are obtained at different time points from the same host. The algorithm employs a codon-based model, which uses a Markov process to describe substitutions between codons, to calculate nonsynonymous and synonymous substitution rates and to distinguish positive selection and neutral evolution. The algorithm is applied to a data set of the V3 region of the HIV-1 envelope genes sequenced at different years after the infection of a single patient. The results suggest that this algorithm may provide a more realistic description of viral evolution than traditional evolutionary models, because it accounts for both neutral and adaptive evolution, and reconstructs a longitudinal phylogenetic tree that describes the dynamic process of viral evolution.
7071100
Telemedical support using real-time ultrasonography and endoscopy images
We developed a telecommunications apparatus (TMS-6101, NIHON KOHDEN WELLNESS CORPORATION, Tokyo, Japan) and evaluated its clinical utility as a telemedical support system. It is capable of transmitting on a real-time basis such vital signs as blood pressure, arterial O2 saturation and ECG recordings, which are measured at bedside using the Life-Mate monitor (NIHON KOHDEN WELLNESS Co.). It is also capable of transmitting moving video-camera pictures in real time. In this study we assessed its application for telemedical supports with particular emphasis on ultrasonography and endoscopy images since reports of such applications are lacking. Employing this system, several kinds of technically demanding endoscopic procedures were supported successfully under the supervision of at least one off-site specialist physician. The system proved to be a very useful medical resource, since it facilitated high quality medical care and specialist consultation at any location without those specialists traveling to the scene.
35929275
Symbolic Chemical System Based on Abstract Rewriting System and Its Halting Property