abstFig src='/00280002/05.jpg' width=""300"" text='Slope shaping by using our proposed system' Slope shaping is important for the prevention of and recovery from sediment disasters. Because of the ...danger of direct operation at disaster scenes, teleoperation is the most efficient method for slope shaping. In this paper, we propose a support system for the teleoperation of slope shaping using a construction robot. The system is composed of two sub-systems: an Augmented Reality (AR) finishing stake system and a system for evaluating finished shape deviation. The former is an AR system which presents a virtual finishing stake to the operator of a construction robot. The latter is an evaluation system which measures the actual shape of the slope in 3D and presents its deviation from the planned shape. Moreover, we developed multiple Computer Graphics (CG) patterns of the virtual finishing stake. In this study, first, we verified the usefulness of a real finishing stake quantitatively via subjective experiments. Then we verified the effectiveness of our proposed systems and identified the optimal CG pattern of the virtual finishing stake via the experiments. Based on the results, we discuss the usefulness of the finishing stake and the effectiveness of our system for slope shaping using a teleoperated construction robot.
We computationally examined the structure of anti-tumour bicyclic hexapeptide RA-VII. This peptide adopts three conformations (confs.), A, B and C, in dimethyl sulfoxide (DMSO). Although it was ...experimentally reported that the structure of conf. A is important for anti-tumour activity, the dynamics of confs. A, B and C are not well known. We performed quantum chemical calculations and molecular dynamics (MD) simulations of RA-VII in DMSO. The MD simulations indicated two different local stable structures for conf. C: a structure containing a bent 18-membered ring and another structure containing a rotated peptide bond between Tyr
6
and d-Ala
1
. The root-mean-square fluctuation of the 14-membered ring for conf. A was larger than that for confs. B and C. Ala
4
formed intramolecular hydrogen bonds more often in conf. A than in the other conformations. A large number of hydrogen bonds and large structural fluctuations are important for the anti-tumour activity of RA-VII. Our results for the structural change of conf. C and the analysis of the dynamics for confs. A, B and C may contribute to the design of new analogues of cyclic peptides.
A hybrid tactile sensor system is proposed for a robot hand to hold and grip an object adaptively as the sensor system measures the slip of an object, the gripping force, and the deformation of its ...silicon rubber sensor element. A hybrid tactile sensor system consists of a Carbon Micro-Coil (CMC) touch sensor and a force sensor. The CMC sensor element is made of silicon rubber containing CMCs several micrometres in diameter. It is considered that the sensor element constitutes an LCR circuit, and the CMC touch sensor, deformed mechanically, produces signals due to the modification of the circuit. In this study, a dome-shaped CMC sensor element similar to the shape of a human fingertip was used. This paper first examines the characteristics of the CMC sensor in terms of slip detection when the sensor system held and released an object. Next, the characteristics of the CMC element are clarified with respect to the compression force and deformation when the CMC element was compressed vertically. Finally, methods using the hybrid tactile sensor system are developed to detect the slip of an object and estimate the magnitude of deformation of the CMC element.
Docking simulation of Chemerin9 and ChemR23 Nobuoka, Keiichi; Yamada, Hironao; Miyakawa, Takeshi ...
Meeting Abstracts of the Physical Society of Japan,
2019
Journal Article
PDF
