| 橋本 稜平 | 1351086: M, 2回目発表 | 萩田 紀博, | 小笠原 司, | 神原 誠之 | |
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title: Evaluation of Comfortable Navigation with Behavior Information Sharing for an Autonomous Wheel Chair by physiological index
abstract: Many studies of an autonomous wheel chair have been researched in recent years. However, Most studies focus on safety which avoids a physical collision. Since there are few studies into consideration with passenger's comfortable, comfortable boarding environment is not realized. In order to avoid a stressor which means that behavior information is not shared with passenger. This paper proposes an autonomous robot chair navigation with appropriate information sharing. In experiments, the validity of behavior information sharing is verified by measuring and evaluating a passenger's stress factor by the physiological index of heart beats and skin conductance. language of the presentation: Japanese 発表題目: 生理指標に基づいた車椅子ロボットの挙動情報共有による搭乗者の快適性向上の検証 発表概要: 近年,自動走行する車椅子ロボットに関する研究が多く行われているが, その多くは物理的な衝突を 回避する安全性や,目的地まで自動走行するための制御方法に主眼が置かれている.そのため,搭乗者の快適性に 考慮した研究例は少なく,快適な搭乗環境が実現されていない.本研究では,走行中の搭乗者にストレスを与える 原因の一つである,車椅子の挙動が搭乗者と共有されていないことを解決するために,搭乗者への適切な挙動情報 の共有を実現する.実験において,搭乗者のストレス度を心拍と発汗の生理指標で計測・評価することで,挙動情報共有の有効性を検証する. | |||||
| 野村 亮太 | 1351084: M, 2回目発表 | 萩田 紀博, | 小笠原 司, | 浮田 宗伯 | |
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title: Human-comfortable Path Planning for an Autonomous Robotic Wheelchair
based on Physiological Indexes
abstract: To avoid giving stress to a user of a robotic wheelchair, we should learn what components in environments give stress. While stress evaluation can be achieved using a user questionnaire as proposed in previous work, it is often unreliable. For reliable evaluation, we employ physiological indexes such as the heartbeat and perspiration. Based on these physiological indexes as well as conventional safety criteria, we develop a novel path planning algorithm for an autonomous robotic wheelchair. language of the presentation: Japanese | |||||
| NGEO JIMSON GELBOLINGO | 1361020: D, 中間発表 | 池田 和司, | 小笠原 司, | 爲井 智也, | 柴田 智広 |
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title: Simultaneous and proportional estimation of dynamic finger postures from surface EMG
abstract: Surface electromyographic (EMG) signals have often been used in estimating upper and lower limb dynamics and kinematics for the purpose of controlling robotic devices such as robot prostheses and finger exoskeletons. The number of active controllable joints in robot hand prostheses and exoskeletons have significantly increased, however, the current myoelectric-based control strategies in clinical use that are based on Pattern Recognition or Gesture Classification are inadequate. Here, we present a new method for estimating proportional and multiple finger kinematics from multi-channel surface EMG. We show that using inputs from an EMG-to-Muscle activation model coupled with a nonparametric Bayesian regressor, such as a Gaussian Process (GP), can lead to better estimation performances. We compared and evaluated the estimation performances compared to using conventional EMG time-domain features and using artificial neural networks that have been used by the previous studies. It is also a known fact that dexterous hand and finger movements are done with precise coordination, and that the finger joints in the hand are highly correlated. We consider such inherent couplings by using a full-covariance dependent output on the Gaussian Process for modelling the correlated outputs. Finally, we show some of the future work on how we plan to measure some finger dynamics (e.g. finger-tip forces) and also how we plan to model dynamic finger postures from EMG using data generated from an inferred latent manifold to generate continuous and varying hand motion patterns. language of the presentation: English | |||||
| 藤原 一優 | 1351094: M, 2回目発表 | 金谷 重彦, | 小笠原 司, | MD.ALTAF-UL-AMIN, | 杉浦 忠男 |
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title: Development of the particle three dimensional position estimation for optical tweezers
abstract: Optical tweezers is a technique which enables us to manipulate microscopic objects under a microscope using radiation pressure force exerted by strongly focused laser beam. This technique is utilized not only to manipulate microscopic objects, but also to measure local cell stiffness and to perform cell sorting. Optical tweezers can hold objects in three dimensions, thus three-dimensional position measurement will give new possibilities of optical tweezers such as feedback control of particle position under optical tweezers. Therefore I consider position measurement of a spherical particle in axial direction suspended by optical tweezers without assuming of particle size. When the manipulation object is a spherical particle, I can measure three dimensional position of the particle by measuring the particle position of axial direction because I can measure the particle position of lateral direction relatively easily. In previous study, if manipulation object is a spherical particle that a diameter is known, we could estimate particle position of axial direction from characteristic of the particle image. In this study, the final purpose is to estimate a axial position of in regard to a particle whose size is unknown, so I analyze a intensity distribution of a particle image to use information such as a size or the number of fringe pattern in particle image, and develop a method which enables us to determine both a position in axial direction and a size of the manipulation objects. In this method, I get the set of particle images against variation of the axis direction position beforehand and establish an analyzing engine from these images, and I consider method to estimate a particle size and particle position in axial direction. language of the presentation: Japanese | |||||
| KIBINGE NELSON KIPCHIRCHIR | 1361017: D, 中間発表 | 金谷 重彦, | 安本 慶一, | MD.ALTAF-UL-AMIN, | 杉浦 忠男, | 小野 直亮 |
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title: Systematic profiling of lung cancer transcription using CAGE expression data
abstract: Lung cancer is the most frequent type of cancer. In order to wholly characterize this disease, current research focuses on understanding it from the perspective of transcription regulation of individual and multi-tiered genes as well as molecular processes involved. Recent transcriptome profiling technologies have proven more superior in detecting low abundance transcripts compared to older technologies such as microarrays. In transcription genomics, next generation sequencing technologies yield large amounts of data thus the need for computational and statistical strategies for systematic analysis. Mechanisms of transcription regulation while well studied, have still not conclusively accounted for specific differences in expression patterns of lung cancer. In addition to this, computational workflows for examining data from newer expression profiling technologies need to be further assembled and customized more specifically to comprehend diseases such as cancer. In the present study we developed a framework for analysis of digital gene expression data from CAGE (cap analysis of gene expression) technology. The pipeline incorporates a series of 8 steps including: Expression quantification, Normalization, explorative visualization, regulation pattern identification, differential expression analysis, gene set enrichment analysis, mapping the transcription factor binding sites and regulation network visualization of the whole lung cancer genome. We tested our method using two expression datasets. One set was the mouse lung tissue at different developmental stages and the second was Human lung cell lines comprising of 264 normal cell lines and 19 cancer cell lines. From this work we were able to identify significantly expressed genes and 27 KEGG pathways significantly regulated in lung cancer. We also mapped binding sites of 128 transcription factors by promoter motif searching throughout the whole genome landscape of lung cancer to examine its transcriptional regulation network. As a whole, we identified vital machinery of transcriptional regulation in the lung. language of the presentation: English | ||||||
| LI DONGHAN | 1361018: D, 中間発表 | 金谷 重彦, | 安本 慶一, | MD.ALTAF-UL-AMIN, | 杉浦 忠男, | 小野 直亮 |
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title: Next Generation Sequencing and Targeted Metabolite Analysis Applied to Curcuminoid Bioynthesis Pathway
abstract: Turmeric, a rhizomatous herbaceous perennial plant of the ginger family, has been used as a spice and herbal medicine in many Asian countries for centuries. Curcuminoid (namely curcumin and its analogs) are the primary active constituents accumulated in the rhizome of turmeric. It has also been identified to be of great medicinal value (e.g. anticancer, antiphlogistic and anti oxygenic properties) and has been increasingly utilised recently. Despite that curcumin has great medical and pharmaceutical potential, currently its production largely depends on natural plant growth. Curcuminoid synthesis mechanism has not been fully understood. The whole turmeric genome is not available and only a few of the synthesizing genes in the downstream of the pathway have been identified. In this research we compared two wild strains and two cultivars to understand differences in the synthesis of curcuminoids by analysing metabolite concentrations measured by gas chromatography-mass spectrometry and gene expressions produced by next generation sequencer (NGS). NGS technique not only provides the candidates of hypothetical genes, but also evaluates these genes' expression. After assembling the whole transcriptome, we selected genes corresponding to the chemical reactions in the target metabolic pathway, and then we applied statistic analysis on adjacent genes' expression changes to detect key genes which are important for curcuminoid contents. We developed this method using the RNA-seq analysis approach that focused on a specific set of genes to detect expression differences between samples in detail. Using this approach, we found that the difference in the contents of curcuminoids among the species were consistent with the changes in the expression of genes encoding diketide-CoA synthase, and the curcumin synthase enzyme at the branching point of curcuminoid biosynthesis. language of the presentation: English | ||||||
| 竹森 有祐 | 1351065: M, 2回目発表 | 萩田 紀博, | 安本 慶一, | 神原 誠之 | ||
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title: Route Recommendation of Motorcycle based on User Preferences
abstract: Many of route recommendation methods that enabled us to move in the shortest time and distance have been developed for example car navigation system. Recently, methods for recommending the highly entertaining route considering the landscape not only the efficiency have been proposed. However, route recommendation method that considers running comfort valued by motorcycle users has not been proposed yet. Also, the running comfort is different for each user even in the same road, it is necessary to route recommendations that are specific to the individual. In this study, we propose the route recommendation method that consider running comfort during driving, reflecting the preferences of the user. In this presentation, road features obtained from the road shape and driving feature obtained from the behavior of motorcycle at the time of running. language of the presentation: Japanese | ||||||