Center of Mass Estimation Using a Force Platform and Inertial Sensors for Balance Evaluation in Quiet Standing.

Accurate estimation of the center of mass is necessary for evaluating balance control during quiet standing. However, no practical center of mass estimation method exists because of problems with estimation accuracy and theoretical validity in previous studies that used force platforms or inertial sensors. This study aimed to develop a method for estimating the center of mass displacement and velocity based on equations of motion describing the standing human body. This method uses a force platform under the feet and an inertial sensor on the head and is applicable when the support surface moves horizontally. We compared the center of mass estimation accuracy of the proposed method with those of other methods in previous studies using estimates from the optical motion capture system as the true value. The results indicate that the present method has high accuracy in quiet standing, ankle motion, hip motion, and support surface swaying in anteroposterior and mediolateral directions. The present method could help researchers and clinicians to develop more accurate and effective balance evaluation methods.

DEVELOPMENT OF A ROBOT FOR THE MEASUREMENT OF RADIOACTIVE CONTAMINATION AND FERTILITY OF THE SOIL IN FARMLAND.

A tractor-based robot with the capability of real-time assessing and visualizing the radioactive material density and fertility distribution of farmlands has been developed to accelerate the recovery process of the farmlands suffered by the accident of the Fukushima Daiichi Nuclear Power Plant (FDNPP). In a field test at a decontaminated farmland near FDNPP, within-field heterogeneities of soil contamination and fertility are clarified almost in real-time. Results obtained by this robot are consistent with the map by the conventional soil sampling or the history of decontamination activities.

An insight into spectral composition of light available for photosynthesis via remotely assessed absorption coefficient at leaf and canopy levels.

Non-invasive comparative analysis of the spectral composition of energy absorbed by crop species at leaf and plant levels was carried out using the absorption coefficient retrieved from leaf and plant reflectance as an informative metric. In leaves of three species with contrasting leaf structures and photosynthetic pathways (maize, soybean, and rice), the blue, green, and red fractions of leaf absorption coefficients were 48, 20, and 32%, respectively. The fraction of green light in the total budget of light absorbed at the plant level was higher than at the leaf level approaching the size of the red fraction (24% green vs. 25.5% red) and surpassing it inside the canopy. The plant absorption coefficient in the far-red region (700-750 nm) was significant reaching 7-10% of the absorption coefficient in green or red regions. The spectral composition of the absorbed light in the three species was virtually the same. Fractions of light in absorbed PAR remained almost invariant during growing season over a wide range of plant chlorophyll content. Fractions of absorption coefficient in the green, red, and far-red were in accord with published results of quantum yield for CO2 fixation on an absorbed light basis. The role of green and far-red light in photosynthesis was demonstrated in simple experiments in natural conditions. The results show the potential for using leaf and plant absorption coefficients retrieved from reflectance to quantify photosynthesis in each spectral range.

Aerobic degradation of cis-dichloroethene by the marine bacterium Marinobacter salsuginis strain 5N-3.

An aerobic bacterium, designated strain 5N-3 (NBRC 113055), that degrades cis-dichloroethene (cDCE) was isolated from a sea sediment in Japan. Strain 5N-3 was able to degrade a certain amount of cDCE in the presence of pyruvate without the action of inducers. In the presence of inducers, such as phenol and benzene, the strain completely removed cDCE. By the application of 16S ribosomal RNA (16S rRNA) gene sequencing and average nucleotide identity analyses, the strain 5N-3 was identified as Marinobacter salsuginis. On the other hand, identified species of Marinobacter are not known to degrade cDCE at all. A draft genome sequence analysis of the strain 5N-3 suggested that the dmp-homologous operon (operon for phenol degradation) may be contributing to the aerobic degradation of cDCE. This is the first report on an aerobic marine bacterium that has been found to degrade cDCE.

Optimal surface property for three-dimensional echo visualization.

PURPOSE: Three-dimensional (3D) echo is a useful modality to guide off-pump intracardiac surgery, and this study aimed to determine the optimal surface property for minimizing echo dropout and grating lobes. METHODS: A total of 13 specimens were examined. The specimens were scanned while they were rotated from 0° to 90°, and en face views were recorded in the 3D zoom mode. Changes in brightness were compared with the surface profile, which was traced from microscopic images. The brightness and size of grating lobes were also examined. RESULTS: Decreases in brightness that were observed at a large rotation angle were classified into three groups (sharp, moderate, and gradual), and variation in the effective reflective plane size appeared to be a major determinant of this property. The same material showed different degrees of reflection depending on the surface profile. The size of grating lobes was affected by variation in the reflective plane size, but not by the intensity of reflection. The brightness of the grating lobes was similar among specimens. CONCLUSIONS: These results suggest that echo dropout and grating lobes can be effectively eliminated by an appropriate surface profile; thus, a likely practical solution would be to manufacture a surface that provides an adequate reflective surface size at various incident angles.

Simple and robust methods for remote sensing of canopy chlorophyll content: a comparative analysis of hyperspectral data for different types of vegetation.

Canopy chlorophyll content (CCC) is an essential ecophysiological variable for photosynthetic functioning. Remote sensing of CCC is vital for a wide range of ecological and agricultural applications. The objectives of this study were to explore simple and robust algorithms for spectral assessment of CCC. Hyperspectral datasets for six vegetation types (rice, wheat, corn, soybean, sugar beet and natural grass) acquired in four locations (Japan, France, Italy and USA) were analysed. To explore the best predictive model, spectral index approaches using the entire wavebands and multivariable regression approaches were employed. The comprehensive analysis elucidated the accuracy, linearity, sensitivity and applicability of various spectral models. Multivariable regression models using many wavebands proved inferior in applicability to different datasets. A simple model using the ratio spectral index (RSI; R815, R704) with the reflectance at 815 and 704 nm showed the highest accuracy and applicability. Simulation analysis using a physically based reflectance model suggested the biophysical soundness of the results. The model would work as a robust algorithm for canopy-chlorophyll-metre and/or remote sensing of CCC in ecosystem and regional scales. The predictive-ability maps using hyperspectral data allow not only evaluation of the relative significance of wavebands in various sensors but also selection of the optimal wavelengths and effective bandwidths.

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection.

Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable of constructing the relationship between the sensor output and the friction applied on the sensor. With the tactile sensor, a new method to detect stick-slip interaction on the contact surface between the object and the sensor is proposed based on the characteristics of friction change. Furthermore, a prototype was developed for a typical application, stable wafer transferring on a wafer transfer robot, by considering the spatial magnetic field distribution and the sensor size according to the requirements of wafer transfer. The experimental results validate the sensing mechanism of the tactile sensor and verify its feasibility of detecting stick-slip on the contact surface between the wafer and the sensor. The sensing mechanism also provides a new approach to detect the contact state on the soft-rigid surface in other robot-environment interaction systems.

SWOG S0925: A Randomized Phase II Study of Androgen Deprivation Combined With Cixutumumab Versus Androgen Deprivation Alone in Patients With New Metastatic Hormone-Sensitive Prostate Cancer.

PURPOSE: Cixutumumab, formerly IMC-A12, is a recombinant human monoclonal immunoglobulin G1 antibody that targets insulin-like growth factor I receptor (IGF-IR). Cixutumumab was synergistic with castration in a hormone-sensitive prostate cancer xenograft model. PATIENTS AND METHODS: Patients with new metastatic prostate cancer were randomly assigned within 30 days of initiating androgen deprivation (AD) to cixutumumab added to a luteinizing hormone-releasing hormone agonist with bicalutamide versus AD alone. With 180 patients and one-sided alpha of 0.10, there would be 90% power to detect an absolute 20% difference in undetectable prostate-specific antigen (PSA; ≤ 0.2 ng/mL) rate at 28 weeks (relative risk, 1.44); this end point was previously strongly correlated with survival. Secondary end points included the proportion of patients with PSA > 4.0 ng/mL, safety and tolerability, circulating tumor cell (CTC) levels, and seven plasma IGF-IR biomarkers. Fisher's exact test was used for the primary end point, and extended Mantel-Haenszel χ(2) test was used for three PSA response categories. RESULTS: The trial accrued 210 eligible patients (105 randomly assigned to each arm). Patient characteristics were similar in both arms. Undetectable PSA rate was 42 (40.0%) of 105 for cixutumumab plus AD and 34 (32.3%) of 105 for AD alone (relative risk, 1.24; one-sided P = .16). Lower baseline CTCs (0 v 1 to 4 v ≥ 5/7.5 mL whole blood) were associated with higher rate of PSA response (three categories; P = .036) in 39 evaluable patients. IGF-IR biomarkers were not correlated with PSA outcome, and cixutumumab did not significantly change these biomarker levels. CONCLUSION: Cixutumumab plus AD did not significantly increase the undetectable PSA rate in men with new metastatic hormone-sensitive prostate cancer. CTCs at baseline may carry prognostic value.

Wearable sensor systems for infants.

Continuous health status monitoring of infants is achieved with the development and fusion of wearable sensing technologies, wireless communication techniques and a low energy-consumption microprocessor with high performance data processing algorithms. As a clinical tool applied in the constant monitoring of physiological parameters of infants, wearable sensor systems for infants are able to transmit the information obtained inside an infant's body to clinicians or parents. Moreover, such systems with integrated sensors can perceive external threats such as falling or drowning and warn parents immediately. Firstly, the paper reviews some available wearable sensor systems for infants; secondly, we introduce the different modules of the framework in the sensor systems; lastly, the methods and techniques applied in the wearable sensor systems are summarized and discussed. The latest research and achievements have been highlighted in this paper and the meaningful applications in healthcare and behavior analysis are also presented. Moreover, we give a lucid perspective of the development of wearable sensor systems for infants in the future.

Screening for potentially hazardous PRTR chemicals in the Lake Biwa-Yodo River basin of Japan using a one-box multimedia model.

A system is needed to predict the behavior, fate, and occurrence of environmental pollutants for effective environmental monitoring. Available monitoring data and computational modeling were used to develop a one-box multimedia model based on the mass balance of the emitted chemicals. Eight physiochemical phenomena in the atmosphere, soil, water, and sediment were considered in this model. This study was carried out in the Lake Biwa-Yodo River basin which provides multiple land uses and also the natural water resource for nearly 13 million of population in the region. Annual emissions for 214 nonmetallic compounds were calculated using the chemical emission data on Japanese pollutant release and transfer registry and used for executing the model simulations for 1997, 2002, and 2008 as input data. The calculated chemical concentrations by the model for all the environmental media were analyzed to determine trends in concentration over this study span. The majority of the chemicals decreased in concentration over time. Among the 214 nonmetallic chemical pollutants, 36 chemicals did not decrease in concentration and were in the top 10 % for concentration on average. Of these 36 pollutants, 7 occur in all 4 environmental media and pose a potential health risk at humans in the Lake Biwa-Yodo River basin.

Testing the degradation effects of three reagents on various antineoplastic compounds.

OBJECTIVE: Studies for decontamination of antineoplastic compounds have been conducted for decades. Nevertheless, recent studies indicate the contamination of work place in hospitals, and the exposure of workers. In this study, to develop an effective cleaning method for contaminated environments, the degradation efficacies of antineoplastic compounds by reagents were evaluated. METHODS: The degradation efficacies of various combinations of three reagents (sodium hypochlorite, sodium thiosulfate, and sodium hydroxide) were evaluated with four antineoplastic compounds (cyclophosphamide, epirubicin, cisplatin, and carboplatin). The residues of antineoplastic compounds were measured with high-performance liquid chromatography. RESULTS: Of the three reagents, sodium hypochlorite was the most effective to all antineoplastic compounds used in this study. Although sodium hypochlorite degraded 86.6% of cyclophosphamide, it degraded other three antineoplastic compounds completely. The combination with sodium hypochlorite and sodium thiosulfate degraded only 3.3% of cyclophosphamide, since sodium thiosulfate inhibited the degradation ability of sodium hypochlorite. Similarly, the combinations used in all three reagents failed to degrade cyclophosphamide. CONCLUSION: Although three of four antineoplastic compounds were degraded successfully, any combinations of three reagents could not degrade cyclophosphamide completely. However, the addition of sodium thiosulfate which inhibits the corrosion of metal by sodium hypochlorite is essential for daily cleaning. Therefore, the evaluation of reaction time before the addition of sodium thiosulfate may be required. We will continue to investigate the reagents for degradation.

Evaluation of lead concentration by one-box type multimedia model in Lake Biwa-Yodo River basin of Japan.

A one box type multimedia model was developed and applied for Lake Biwa-Yodo River basin in Japan to assess the distribution of lead in the environment. This model is based on mass balance and includes four environmental media; the atmosphere, the soil, the water body, and the sediment. The mass balance of lead is represented by the summation of mass transfer flux at equilibrium, emission flux, advection flux, and deposition flux or sedimentation flux. In the case of metallic compounds, dissolution rate and exchange equilibrium have also been taken into consideration. Pollutant Release and Transfer Registry (PRTR) in Japan was used as one of the major data source for this study. The emission of lead in Lake Biwa-Yodo River basin is calculated based on five sources of registered emission in PRTR, unregistered emission in PRTR, incinerators, leaded gasoline, and landfills. In this study, we estimated lead emission from 1957 to 2007 to observe the temporal accumulation of lead. Calculated lead concentrations were compared with the measured/observed concentrations. It was found out that the model could closely predict lead concentration in the soil and the water body. The concentration in the atmosphere was underestimated by the calculated concentrations. The reason was attributed to the underestimation of the amount of lead emission from incinerators.

Validation of bimanual-coordinated training supported by a new upper-limb rehabilitation robot: a near-infrared spectroscopy study.

PURPOSE: Our previous work proposed a rehabilitation robot to support bimanual-coordinated training not only in active-assisted and passive-driven modes but also in active-resisted mode. However, assessment of training effect was only focused on the improvements of subjects' motion-tracking precisions. This paper presents an evaluation strategy based on variations in both cerebral activation level (CAL) and motion-tracking precision. METHOD: Fourteen healthy subjects participated in motion-tracking training in bimanual active-assisted and active-resisted modes, and in single right-limb and left-limb modes, with haemoglobin concentration and motion-tracking errors being measured simultaneously. Analyses of variance (ANOVA) of the CAL and motion-tracking errors were performed to investigate bimanual training effect and the difference between bimanual and single-limb trainings in activating the brain. RESULTS: In the bimanual modes, both the CAL and motion-tracking precision significantly increased after training. And the CAL induced in the bimanual trainings were significantly greater than in the single-limb trainings. CONCLUSIONS: Significant enhancement of the CAL and motion-tracking precision confirmed a positive training effect on enhancing the bimanual-coordination capability of healthy subjects. Compared to the single-limb modes, the higher CAL in the bimanual modes demonstrated the potential of the proposed bimanual training for improving the functional integrity of the two hemispheres.

Effects of crystallization temperature of poly(vinylidene fluoride) on crystal modification and phase transition of poly(butylene adipate) in their blends: a novel approach for polymorphic control.

Effects of the isothermal crystallization temperatures of poly(vinylidene fluoride), T(IC,PVDF), on polymorphic crystalline structure, phase transition, fractional crystallization, and enzymatic degradation of poly(butylene adipate) (PBA) in crystalline/crystalline blends have been investigated. The crystal modifications of PBA can be regulated by T(IC,PVDF). Lower T(IC,PVDF) (e.g., 80 °C) facilitates the formation of PBA α crystals in both the isothermal and nonisothermal melt crystallizations and also favors the ß-to-α phase transition of PBA upon annealing at elevated temperatures. This might be attributable to the decreased equilibrium melting temperature of PBA when T(IC,PVDF) is decreased. Higher T(IC,PVDF) is favorable for the fractional crystallization of PBA, which tends to segregate in the interlamellar regions of the PVDF matrix under these conditions. PBA shows faster enzymatic degradation in the blends with a lower T(IC,PVDF) than those with a higher T(IC,PVDF), attributable to the preferential formation of α crystals at a lower T(IC,PVDF). This study provides a new method to control the crystal modification and physical properties of polymorphic polymers in their blend systems.

Molecular dynamics of a polyaniline/ß-cyclodextrin complex investigated by 13C solid-state NMR.

The molecular dynamics of a polyaniline/ß-cyclodextrin inclusion complex (PANI/ß-CD IC) and its relation with optical properties were investigated using high-resolution solid-state (13)C nuclear magnetic resonance (NMR) and optical absorption spectroscopies. UV-vis measurements revealed a π-π* absorption peak of a PANI film that had a 10 nm blue-shift by inclusion of ß-CD, indicating that π-conjugation of PANI was shortened in the IC. Temperature dependent analysis of (13)C NMR spectra and spin-lattice relaxation times (T(1C)) revealed that the inclusion induced acceleration of the twisting motion of the PANI chain. Moreover, two twisting motions attributed to different torsional angle modes were observed following Arrhenius plots of T(1C) measurements, and the twisting frequency and angle increased above -25 °C. These results suggest that the ß-CD inclusion weakens the intermolecular π-π interaction and enhances the accompanying twisting motion, consequently leading to a blue-shift of UV-vis absorption.

Calculation of joint reaction force and joint moments using by wearable walking analysis system.

In gait analysis, which is one useful method for efficient physical rehabilitation, the ground reaction force, the center of pressure, and the body orientation data are measured during walking. In the past, these data were measured by a 3D motion analysis system consisting of high-speed cameras and force plates, which must be installed in the floor. However, a conventional 3D motion analysis system can measure the ground reaction force and the center of pressure just on force plates during a few steps. In addition, the subjects' stride lengths are limited because they have to walk on the center of the force plate. These problems can be resolved by converting conventional devices into wearable devices. We used a measuring device consisting of portable force plates and motion sensors. We developed a walking analysis system that calculates the ground reaction force, the center of pressure, and the body orientations and measured a walking subject to estimate this system. We simultaneously used a conventional 3D motion analysis system to compare with our development system and showed its validity for measurements of ground reaction force and the center of pressure. Moreover we calculated joint reactions and joint moment of each joint.

Gait motion analysis in the unrestrained condition of trans-femoral amputee with a prosthetic limb.

Trans-femoral amputees must regain moving pattern by refined rehabilitation program using ground reaction forces, joint angles and joint moments applied on a prosthetic limb. On the other hand, understanding those loads and kinematic variables is indispensable for gait analysis based on the biomechanical consideration of trans-femoral amputees. However, conventional prosthetic gait training systems cannot measure long continuous walking motions. In this paper, ground reaction forces and kinematic parameters applied on trans-femoral prosthesis are measured by the prosthetic gait motion analysis system using mobile force plate and attitude sensor for the unrestrained gait measurement. As a result of the experiments, the patterns of antero-posterior axis ground reaction forces and joint moments about the medio-lateral axis are remarkably different among the five activities. Finally, the effectiveness of the developed prosthetic gait training system to consider biomechanics and kinematics in trans-femoral prosthesis is validated.

Physical sensor difference-based method and virtual sensor difference-based method for visual and quantitative estimation of lower limb 3D gait posture using accelerometers and magnetometers.

An approach using a physical sensor difference-based algorithm and a virtual sensor difference-based algorithm to visually and quantitatively confirm lower limb posture was proposed. Three accelerometers and two MAG(3)s (inertial sensor module) were used to measure the accelerations and magnetic field data for the calculation of flexion/extension (FE) and abduction/adduction (AA) angles of hip joint and FE, AA and internal/external rotation (IE) angles of knee joint; then, the trajectories of knee and ankle joints were obtained with the joint angles and segment lengths. There was no integration of acceleration or angular velocity for the joint rotations and positions, which is an improvement on the previous method in recent literature. Compared with the camera motion capture system, the correlation coefficients in five trials were above 0.91 and 0.92 for the hip FE and AA, respectively, and higher than 0.94, 0.93 and 0.93 for the knee joint FE, AA and IE, respectively.

Ambulatory estimation of knee-joint kinematics in anatomical coordinate system using accelerometers and magnetometers.

Knee-joint kinematics analysis using an optimal sensor set and a reliable algorithm would be useful in the gait analysis. An original approach for ambulatory estimation of knee-joint angles in anatomical coordinate system is presented, which is composed of a physical-sensor-difference-based algorithm and virtual-sensor-difference-based algorithm. To test the approach, a wearable monitoring system composed of accelerometers and magnetometers was developed and evaluated on lower limb. The flexion/extension (f/e), abduction/adduction (a/a), and inversion/extension (i/e) rotation angles of the knee joint in the anatomical joint coordinate system were estimated. In this method, since there is no integration of angular acceleration or angular velocity, the result is not distorted by offset and drift. The three knee-joint angles within the anatomical coordinate system are independent of the orders, which must be considered when Euler angles are used. Besides, since there are no physical sensors implanted in the knee joint based on the virtual-sensor-difference-based algorithm, it is feasible to analyze knee-joint kinematics with less numbers and types of sensors than those mentioned in some others methods. Compared with results from the reference system, the developed wearable sensor system is available to do gait analysis with fewer sensors and high degree of accuracy.