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  • Author: Y. Hasegawa x
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This paper proposes a novel adaptation method for behavior-based locomotion robot. Utilization of the hierarchical behavior controller concept makes the controller designing process easier and shorter, because the designer can deal with behavior controllers for simple behaviors independently, and coordinate those behavior controllers in order for a robot to perform the objective behavior after finishing the design of the fundamental behavior controllers. Some problems are still remaining. One is how to adjust the behavior coordinator when the objective behavior or robot parameters are slightly changed. We propose a novel method to adjust the behavior coordinator against some changes. This method measures the effects of the fundamental behavior controllers to the total behavior, and changes the activation values for them in fewer trials. This proposed method is applied to the real brachiation robot control. This brachiation robot has redundant mechanism to locomote from branch to branch with 14 actuators like a long-armed ape.


For a better understanding of phosphorus removal from hot metal, the Gibbs free energies of solid solutions between di-calcium silicate and tri-calcium phosphate were derived through applications of solutions models. The regular solution model with the parameters determined in this study gave the activities of the components thermodynamically consistent with the literature data and the phase diagrams.


Rabson-Mendenhall syndrome (RMS) is a genetic disorder characterized by severe insulin resistance and somatic characteristics. Recombinant insulin-like growth factor 1 (r-IGF-1) is used to treat RMS, as the IGF-1 and insulin receptors share homology. However, the effect of r-IGF-1 varies in patients and it is difficult to manage metabolic status appropriately in r-IGF-1 resistant cases. We report a Japanese boy with RMS who showed resistance to r-IGF-1 therapy and a novel mutation in the insulin receptor in the tyrosine kinase domain. Mutations in this region disturb tyrosine kinase catalytic activity in IGF-1 receptors as a result of dominant negative effects. We consider this mutation to be the cause of resistance to r-IGF-1. The patient also exhibited radiographical features of medullary sponge kidney and had severe nephrocalcinosis and hypokalemia, indicating Bartter syndrome. However, analysis revealed no mutations in the responsible genes and the etiology of the renal abnormalities therefore remains unknown.


After Kyoto protocol, many companies and institutions in the industrialized countries focused on the energy saving and the utilization of waste heat and materials widely for reducing the CO2 emission. In such a circumstance, it is key technology for reducing CO2 emission by using the waste materials efficiently such as a plastic and wood biomass.

In this paper, a method for improving the reactivity of plastic char using wood biomass was investigated. The XRD analysis was performed for elucidating the carbon structure change by addition of wood to PE (polyethylene) and reactivity test with O2 gas was carried out to clarify the reaction rates of the mixtures of PE and wood.

It was found that the crystallization degree of char decreased continuously with the addition of wood to polyethylene, which meant that the reactivity of polyethylene char increased.