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On the Reincarnation of the “Virtuous Person” Who Observes Vedic Norms : From the Examples Found in Madhusūdanaʼs Work Gūd.hārthadīpikā
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Inshore migration of Japanese eel Anguilla japonica encouraged by active horizontal swimming during the glass eel stage
No full textThe biomass of the Japanese eel (Anguilla japonica) is generally determined by the recruitment of glass eels into freshwater habitats, but the behavioral biology of their inshore migration remains unknown. With the aid of an ocean prediction system, we elucidated a recruitment migration scenario that can quantitatively reproduce a regional difference in biomass in Japan, which was previously estimated by an environmental DNA sampling method. For their successfully reaching shores, it is necessary to incorporate behavioral changes of glass eels within their migration on the Kuroshio Current, such as shallower depth preferences and horizontal swimming toward lower salinity water. In particular, the latter is essential for encouraging recruitment into both the Seto Inland Sea, with a relatively high ratio (20%-30%) of the total recruitment to Japan and the coasts in the central part of the Pacific side of northern Japan (i.e., the northern limit of the habitable distribution), manifesting that glass eels actively swim toward freshwater near coastal regions. In the subsurface layer, where glass eels mainly conduct diel vertical migration, there is a bifurcation path connecting the Kuroshio Current to the second and third branches of the Tsushima Warm Current, restricting the recruitment of glass eels into the Sea of Japan side of the main inland in Japan. The simulated recruitment validated that the eDNA acts as a proxy indicator for estimating the relative biomass on the regional scale. The simulation supported that the inshore migration of glass eels is determined by active horizontal swimming
Studies on the immunological behavior of early graft-infiltrating lymphocytes in a mouse model of skin transplantation
No full text配架番号：282
Simple Inverse Kinematics Computation Considering Joint Motion Efficiency
No full textInverse kinematics (IK) is an important and challenging problem in the operation of industrial manipulators. This study proposes a simple IK calculation scheme for an industrial serial manipulator. The proposed technique can calculate appropriate values of the joint variables to realize the desired end-effector position and orientation while considering the motion costs of each joint. Two scalar functions are defined for the joint variables: one is to evaluate the end-effector position and orientation, whereas the other is to evaluate the motion efficiency of the joints. By combining the two scalar functions, the IK calculation of the manipulator is formulated as a numerical optimization problem. Furthermore, a simple algorithm for solving the IK via the aforementioned optimization is constructed on the basis of the simultaneous perturbation stochastic approximation with a norm-limited update vector (NLSPSA). The proposed scheme considers not only the accuracy of the position and orientation of the end-effector but also the efficiency of the robot movement. Therefore, it yields a practical result of the inverse problem. Moreover, the proposed algorithm is simple and easy to implement owing to the high-calculation efficiency of NLSPSA. Finally, the effectiveness of the proposed method is verified through numerical examples using a redundant manipulator
身体・動作・空間 : 中華圏アクション映画に関する研究 [全文の要約]
No full textこの博士論文全文の閲覧方法については、以下のサイトをご参照ください。https://www.lib.hokudai.ac.jp/dissertations/copy-guides
First Records of Three Fish Species Collected from the Coast of Tsugaru Strait, Southern Hokkaido, Japan
No full textThree fish specimens were collected from the coast of Tsugaru Strait, southern Hokkaido, Japan in 2019 and 2020, and identified as the platycephalid Cociella crocodila (Cuvier, 1829), the sciaenid Pennahia argentata (Houttuyn, 1782) and the acanthurid Naso annulatus (Quoy and Gaimard, 1825), respectively. These specimens represent the first records from Hokkaido and the northernmost records of the species. It is suggested in this study that they were transported by the Tsugaru Warm Current, a branch of the Tsushima Warm Current flowing through the Sea of Japan