1,041 research outputs found
Image similarity based on Discrete Wavelet Transform for robots with low-computational resources
No full textThis paper describes a similarity measure for images which can be used in image-based topological localization and topological SLAM problems by autonomous robots with low computational resources. Instead of storing the images in the robot’s memory, we propose a compact signature to be extracted from the images. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image and its size is only 170 bytes. We called this signature the DWT-signature. We exploit the frequency and space localization property of the wavelet transform to match the images grabbed by the perspective camera mounted on board the robot and the reference panoramic images built using an automatic image stitching procedure. The proposed signature allows, at the same time, memory saving and fast and efficient similarity calculation. For the topological SLAM problem we also present a simple implementation of a loop-closure detection based on the proposed signature.
We report experiments showing the effectiveness of the proposed image similarity measure using two kinds of small robots: an AIBO ERS-7 robot of the RoboCup Araibo Team of the University of Tokyo and a Kondo KHR-1HV humanoid robot of the IAS-Lab of the University of Padua
Toward image-based localization for AIBO using wavelet transform
No full textThis paper describes a similarity measure for images to be used in image-based localization for autonomous robots with low computational resources. We propose a novel signature to be extracted from the image and to be stored in memory. The proposed signature allows, at the same time, memory saving and fast similarity calculation. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image. We present experiments showing the effectiveness of the proposed image similarity measure. The used images were collected using the AIBOs ERS-7 of the RoboCup Team Araibo of the University of Tokyo on a RoboCup field, however, the proposed image similarity measure does not use any information on the structure of the environment and do not exploit the peculiar features of the RoboCup environment
FIGURE 12 in Bathyraja (Arctoraja) sexoculata sp. nov., a new softnose skate (Rajiformes Arhynchobatidae) from Simushir Island, Kuril Islands (western North Pacific) with special reference to geographic variations in Bathyraja (Arctoraja) smirnovi
No full textFIGURE 12. Plots of selected morphometric characters in Bathyraja sexoculata sp. nov. and B. smirnovi. (A) disc width, (B) disc length, (C) head length, (D) preoral length, (E) prenarial length, (F) internarial distance, (G) eye diameter, (H) tail length. Red stars, B. sexoculata; black dots, B. smirnovi from southern Sea of Japan; gray dots, B. smirnovi from northern Sea of Japan; white dots, B. smirnovi from Sea of OkhotskPublished as part of Misawa, Ryo, Orlov, Alexei M., Orlova, Svetlana Y., Gordeev, Ilya I., Ishihara, Hajime, Hamatsu, Tomonori, Ueda, Yuji, Fujiwara, Kunihiro, Endo, Hiromitsu & Kai, Yoshiaki, 2020, Bathyraja (Arctoraja) sexoculata sp. nov., a new softnose skate (Rajiformes Arhynchobatidae) from Simushir Island, Kuril Islands (western North Pacific) with special reference to geographic variations in Bathyraja (Arctoraja) smirnovi, pp. 515-543 in Zootaxa 4861 (4) on page 535, DOI: 10.11646/zootaxa.4861.4.3, http://zenodo.org/record/441671
株式相互持ち合いに関する覚書 : 企業支配・企業統治・企業間関係の論点から
No full text上田慧教授古稀祝賀記念号Honorable issue in commemoration of Prof. Satoshi Ueda 70 years of ageapplication/pd
Macroeconomic Impacts of Aging in Japan on the Balance of Current Accounts
No full textThis paper investigates questions regarding the saving rates by age brackets and aggregate savings, and then conducts a simulation analysis of the current account, from the I-S balances of households, corporations and the government. Saving rates of the old (65 years old and above) with publicly available data are high because of a selection bias in household head, that excludes the old living with younger family members and being non-head of the household. The paper estimates the true saving rates by age brackets rather than of household head's age brackets with taking the non-head households' member into account. Estimated saving rates of the old are still positive (about 10% to 20% which are less than those of the young) even after adjusting for the bias. The impact of aging on the aggregate saving rates will not be large if the future old people continue to save as the current old people. We forecast the current account in several scenarios, using data of demographic changes, the estimated aggregate saving rates, and the estimated interest payments of government bonds. It is of our particular interest whether the current account will turn to be negative by the rapid demographic change. It is found that the IS balances would remain positive under a condition that the government bond issues would be constrained by fiscal sustainability.
Regulation of IL-6 and IL-8 production by reciprocal cell-to-cell interactions between tumor cells and stromal fibroblasts through IL-1α in ameloblastoma.
No full text博士論文全文, 博士論文要旨Takao Fuchigami, Toshiro Kibe, Hirofumi Koyama, Shosei Kishida, Mikio Iijima, Yoshiaki Nishizawa, Hiroshi Hijioka, Tomomi Fujii ,Masahiro Ueda, Norifumi Nakamura, Tohru Kiyono ,Michiko Kishida
Regulation of IL-6 and IL-8 production by reciprocal cell-to-cell interactions between tumor cells and stromal fibroblasts through IL-1α in ameloblastoma
Biochemical and Biophysical Research Communications 451(4, 5) 2014, 491-496
https://doi.org/10.1016/j.bbrc.2014.07.13
Adalimumab in the management of Behçet’s disease
No full textAtsuhisa Ueda, Mitsuhiro Takeno, Yoshiaki Ishigatsubo Department of Internal Medicine and Clinical Immunology, Graduate School of Medicine, Yokohama City University, Yokohama, Japan Abstract: Behçet’s disease (BD) is a relapsing, systemic, inflammatory disorder that affects various organ systems. Most of the manifestations of BD are self-limiting, but ocular attacks are an exception. Gastrointestinal tract, central nervous system, and cardiovascular system manifestations are relatively infrequent but may be resistant to conventional immunosuppressive treatment and therefore life-threatening. Tumor necrosis factor alpha antagonists are increasingly being used in patients whose BD is inadequately controlled by standard immunosuppressive regimens. Most of the current experience regarding the treatment of refractory BD involves the use of infliximab; however, adalimumab has also been successfully used in cases of BD refractory to both conventional therapy and infliximab. Compared with infliximab, adalimumab offers several other advantages, such as the ability to self-administer at home, better patient compliance, and an improved side effect profile. Here, we review clinical experience of the use of adalimumab to treat the serious manifestations of BD. Adalimumab is a promising drug for the treatment of BD, and its randomized, prospective study in a large number of patients is warranted to fully determine its efficacy in the refractory BD setting. Keywords: adalimumab, Behçet’s disease, intestinal BD, infliximab, ocular lesion, central nervous syste
Notes on interlocking shareholdings : corporate control, corporate governance and intercorporate relationships
No full text上田慧教授古稀祝賀記念号Honorable issue in commemoration of Prof. Satoshi Ueda 70 years of agedepartmental bulletin pape
Development of an infiltration-based RNA preservation method for cryogen-free storage of leaves for gene expression analyses in field-grown plants
No full textAbstract Background Gene expression is a fundamental process for plants to express their phenotype, and its analysis is the basis of molecular studies. However, the instability of RNA often poses an obstacle to analyzing plants grown in fields or remote locations where the availability of liquid nitrogen or dry ice is limited. To deepen our understanding of plant phenotypes and tolerance to field-specific stresses, it is crucial to develop methodologies to maintain plant RNA intact and safely transfer it for downstream analyses such as qPCR and RNA-seq. Results In this study, the author developed a novel tissue preservation method that involved the infiltration of RNA preservation solution into the leaf apoplast using a syringe and subsequent storage at 4 °C. RNA-seq using samples stored for 5 d and principal component analyses showed that rice leaves treated with the infiltration method maintained the original transcriptome pattern better than those treated with the traditional method when the leaves were simply immersed in the solution. Additionally, it was also found that extracted RNA can be transported with minimum risk of degradation when it is bound to the membrane of RNA extraction kits. The developed infiltration method was applied to rice plants grown in a local farmer's field in northern Madagascar to analyze the expression of nutrient-responsive genes, suggesting nutrient imbalances in some of the fields examined. Conclusions This study showed that the developed infiltration method was effective in preserving the transcriptome status of rice and sorghum leaves when liquid nitrogen or a deep freezer is not available. The developed method was useful for diagnosing plants in the field based on the expression of nutrient-responsive marker genes. Moreover, the method used to protect RNA samples from degradation during transportation offers the possibility to use them for RNA-seq. This novel technique could pave the way for revealing the molecular basis of plant phenotypes by accelerating gene expression analyses using plant samples that are unique in the field
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