Shigeo Hasegawa

Takeda (Japan)

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Akihiro Mayanagi

Tokyo Medical and Dental University

Hiroyuki Miura

National Cerebral and Cardiovascular Center

Norio Nishimura

Nagasaki Medical Center

Minoru Kuriyama

Tokyo Medical and Dental University

Izumi Arai

Tokyo Medical and Dental University

Youichi Takeyama

Showa University Fujigaoka Hospital

Takehiro Otake

Tokyo Medical and Dental University

Hitoshi Kato

Nagoya University

Shunzo Yamamoto

Okayama University

Jun Tsuruta

Tokyo Medical and Dental University

Cooperative Institutions

Tokyo Medical and Dental University

The University of Tokyo

Showa University

Tohoku University

Yamagata University

Kyushu University

Takeda (Japan)

Kyoto University

Okayama University of Science

Tokushima University

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The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning

International Journal of Automation Technology (2008)

Akihiro KANESHIGE Shigeo Hasegawa Kazuhiko Terashima

The purpose of this paper is to present a method to establish an autonomous mobile crane system which includes on-line obstacle recognition, path planning by on-line and suppression of sway of the transferred object. The system consists of three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renew small part of environmental map during the transferring taking advantage of quick scanning time. In the planning system, proposed on-line path planning method is used in an artificial potential field based on the solution of the Laplacian differential equation. This path planning method can correspond to minor changes in the transportation environment during transportation. The on-line path planning has been accomplished by regenerating the updated potential field. In the control system, feed-forward controller by means of notch filter is used to achieve the suppression of sway of the transferred object. Finally, the usefulness of the proposed method is confirmed by simulations and experiments.

Line (geometry)

Obstacle avoidance

10.20965/ijat.2008.p0131

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Citations (7)

Cyst of the Gallbladder with Growing Tendency. Report of a Case.

The Japanese Journal of Gastroenterological Surgery (2003)

Nobuyoshi Aoyanagi Minoru Watanabe Mamoru Hiraishi Ichiro Iizuka Shigeo Hasegawa

経過観察中に増大傾向を呈し, 胆嚢摘出により除去しえた胆嚢嚢胞の1例を報告する. 症例は80歳の男性で, 胃癌術後の経過観察中に胆嚢底部に径8mmの嚢胞性小隆起性病変を指摘された. この嚢胞性病変は1年の経過観察にて径13mmと増大した. 診断的治療として胆嚢摘出術が施行された. 標本では胆嚢底部に径13mmの単房性嚢胞を認め, 内腔は黄白色の粘液で満たされていた. 組織学的には嚢胞内面は1層の円柱~立方上皮でおおわれており, 外面の胆嚢粘膜は軽度の炎症所見のみで, 異型性を認めなかった. 周囲にRokitansky-Aschoff sinus(以下, RASと略記)の散在を認め, RASの閉塞による貯留嚢胞と考えられた. 胆嚢嚢胞はまれな疾患であるが, 超音波機器の性能が向上した近年では報告例も増えつつあり, 胆嚢の小隆起性病変の鑑別診断として念頭におく必要があると考えられた.

Sinus (botany)

10.5833/jjgs.36.23

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Citations (4)

A case of liver abscess due to transverse colon cancer in a patient on chronic hemodialysis.

Journal of Japanese Society for Dialysis Therapy (1993)

Takaaki Matsuhashi Yoshihiko Kunii Jiro Akiba Takao Miyabayashi A Ohe

慢性透析患者の合併症として肝膿瘍は, 比較的稀な疾患である. また, 肝膿瘍の原因として, 大腸癌による経門脈感染も最近, 報告例が散見される程度である.今回, 我々は, 血液透析中の76歳男性に生じた多発性肝膿瘍を経験した. 肝膿瘍は, 抗生剤の全身投与が奏効し治癒したが, 経過中, 腸閉塞を呈した. 大腸内視鏡検査にて, 横行結腸の癌によるイレウスと診断し, 右半結腸切除術を施行した. 術後の透析も問題なく, 順調に回復した. 現在, 外来にて維持透析中であるが, 肝膿瘍, 大腸癌の再発を認めていない.血液透析患者に合併した多発性肝膿瘍について, その原因が横行結腸癌による経門脈性感染と考えられた示唆に富む症例を経験したので若干の文献的考察を加えて報告した.

Transverse colon

10.4009/jsdt1985.26.1209

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Citations (3)

Studies of Organic Peroxides. VIII. The Reaction of Benzoyl Peroxide with 5, 5′-Indigo-disulfonic Acid

Bulletin of the Chemical Society of Japan (1967)

Setsuo Kashino Norio Nishimura Kohei Ino Shigeo Hasegawa

Abstract The reaction of benzoyl peroxide with 5, 5′-indigo-disulfonic acid was studied in ethanol. The effect of the p,p′-substituents of benzoyl peroxide on the reaction rate was investigated. It was found that the reaction is a bimolecular process. Either electron-attracting substituents or electron-releasing substituents promote the reaction. This was interpreted by means of the multicenter mechanism. The electron absorption spectra of the reaction mixture showed the formation of a reasonably stable complex in ethanol. This complex is decomposed by water to 5-isatinsulfonic acid and 5, 5′-indigo-disulfonic acid.

Peroxide

Organic peroxide

10.1246/bcsj.40.33

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Citations (2)

On the significance of reproduction of condyle path curvature.

Nihon Hotetsu Shika Gakkai Zasshi (1990)

Akihiro Mayanagi Minoru Kuriyama Shigeo Hasegawa

The objective of this study is to explain mathematically the effect of curvature of horizontal balancing condylar path and direction of working condylar path on tooth path. Conclusions from the calculation were;1. The direction of working condylar path, especially on posterior-external-superior laterotrusion, affected remarkably the relation of curvature of horizontal balancing condylar path and tooth path.2. As the direction of working condylar path was made greater toward posterior-external-superior, curvature of tooth path increased similar to that of horizontal balancing condylar path.From the facts described above, through another attempt of condylar path on the human lateral excurtion, the following results were obtained;3. On the human lateral excursion, it was very little case that put larger curvature of horizontal balancing condylar path and working condylar path in posterior-external-superior direction together.4. For this reason, it is clinically almost unnecessary to reproduce curvature of horizontal balancing condylar path on articulator.

10.2186/jjps.34.1170

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Studies of Organic Peroxides. X. The Reaction of Benzoyl Peroxide with Secondary Amines

Bulletin of the Chemical Society of Japan (1967)

Setsuo Kashino Yutaka Mugino Shigeo Hasegawa

Abstract The reaction of benzoyl peroxide with secondary amines, namely diphenylamine, diethylamine, piperidine and pyrrolidine was studied in benzene. The rates of reactions were followed by the thermal analysis and the titration method. The rates of reactions of these amines increase in the order diethylamine<diphenylamine<piperidine<pyrrolidine. The effect of the p, p′-substituents of benzoyl peroxide on the reaction rate was examined. The Hammett relationship with respect to p, p′-substituents held for all amines with positive ρ values. It was concluded that the reactions involve nucleophilic attack by the amines on the peroxide. Stoichiometry of the reaction was also examined by the method of thermal analysis. Diethylamine reacts with the peroxide in the 2 : 1 amine-peroxide ratio, while piperidine about 1.3 : 1 and diphenylamine 0.6 : 1, respectively. ESR spectra showed that diphenylamine and diethylamine produce fairly stable free radicals in low yields, while piperidine and pyrrolidine do not yield, detectable free radicals.

Diethylamine

Piperidine

Diphenylamine

Pyrrolidine

Peroxide

10.1246/bcsj.40.2004

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Citations (3)

On the Pressure Characteristics of a Hydraulic Ram

Shigeo Hasegawa

Source

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Regression Analyses for Occlusal Force Based on Tooth Displacement

The Journal of Japanese Society of Stomatognathic Function (2007)

Yuzuru Furuki Hiroyuki Miura Noriko Nakamura Koske Nozaki Chiharu Shin

歯の変位の測定と感圧シートによる咬合力の測定を同時に行い, 上下顎咬合面間に介在物のない状態で作用する咬合力を歯の変位量から推定する方法について検討した.被験者は顎口腔系に特に異常を認めない健常被験者 (男性, 27歳) 1名である.被験歯は上顎左側第一大臼歯で, 歯の変位の測定には3次元微小変位計M-3型を用いた.また, 咬合力の測定には感圧シート (デンタルプレスケール, 富士写真フイルム) を用いた.被験者にはオシロスコープに表示した被験歯の変位量を確認させながら噛みしめ強度を調節するように指示した.被験歯の咬合面形態は咬合面形状認識装置 (オプトレース, 松風) を用いてスタディモデル上で計測して求めた.その後, 各咬合接触部位の法線ベクトルを求め, プレスケールの咬合力値から各咬合接触部位に作用する咬合力ベクトルを算出し, その合力を求めて被験歯に作用した咬合力とした.その上で, 変位量から咬合力の大きさを推定する回帰式を求め, F=2.38D+50.1 (F: 咬合力 [N] , D: 変位量 [μm] ) を得た.この回帰式を用いて咬合力を推定するときの95%信頼区間の幅は変位量70～160μmの範囲で± (114.7～125.9) Nとなり, 歯の変位量から咬合力を推定することの可能性が示唆された.

Bite force quotient

10.7144/sgf.14.1

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Citations (1)

ChemInform Abstract: STERISCHE EFFEKTE BEI AZOVERBINDUNGEN, ELEKTRISCHE DIPOLMOMENTE VON TRANS‐4‐N,N‐DIMETHYLAMINO‐AZOBENZOLEN UND ELEKTRONENSPEKTREN VON 2‐ BZW. 4‐FACH SUBSTITUIERTEN AZOBENZOLEN

Chemischer Informationsdienst Organische Chemie (1971)

Shunzo Yamamoto Norio Nishimura Shigeo Hasegawa

10.1002/chin.197146093

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FURTHER EVIDENCE OF INVERSION MECHANISM FOR THE CIS-TO-TRANS THERMAL ISOMERIZATION OF 4-DIMETHYLAMINOAZOBENZENE DERIVATIVES. ADDITIVITY RULE OF SUBSTITUENT CONSTANTS

Chemistry Letters (1974)

Toshinobu Sueyoshi Norio Nishimura Shunzo Yamamoto Shigeo Hasegawa

Abstract The thermal cis-to-trans isomerization of some substituted 4-dimethylaminoazobenzenes was studied. Substituent effects on the isomerization rate strongly support the view that the isomerization proceeds via inversion at either one of the azo-nitrogen atoms.

Additive function

10.1246/cl.1974.1131

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Citations (11)