Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new ...Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.展开更多
The purpose of this study was to clarify the distribution of oceanic Halobates in the area of the Kuroshio flowing near the southern shore in the direction of 100° - 120°, and also to compare the population ...The purpose of this study was to clarify the distribution of oceanic Halobates in the area of the Kuroshio flowing near the southern shore in the direction of 100° - 120°, and also to compare the population density of Halobates between the area within or outside the area of the Kuroshio and also among seasons. This study was carried out during 8 cruises by R/V TANSEIMARU. The Kuroshio area south of the southern Japan coast (30°00'N - 35°00'N, 130°25'E - 141°04'E) was dominated by H. sericeus, and the averaged population-density of this species was significantly higher inside the Kuroshio than outside this current. On the Kuroshio, H. sericeus was dominant with the population density of 16,396.4 km-2 ± 66,138.4 [26] (Mean ± SD [n]), whereas the density of H. germanus was 8,581.9 km-2 ± 24,443.2 [26]. The two oceanic sea skaters, H. sericeusand H. germanus showed significant seasonal variation in the population density, with significantly higher density in October than other months, whereas there was no such significant October peak in the cosmopolitan oceanic sea skater, H. micans. The results of this study may suggest that H. sericeus could use the Kuroshio as a transportation tool to distribute a wide latitude area of from 10°N to 40°N in the western tropical, subtropical and temperate area in the Pacific Ocean.展开更多
This study aimed to determine the appropriate nutritional intakes and dietary habits of high school-aged cross-country skiers and speed skaters. The subjects, all high school students from N Prefecture, included 18 ma...This study aimed to determine the appropriate nutritional intakes and dietary habits of high school-aged cross-country skiers and speed skaters. The subjects, all high school students from N Prefecture, included 18 male cross-country skiers, 5 male speed skaters, 10 female cross-country ski players and 4 female speed skaters. Physical measurements, food intake frequency survey results, bone mineral density and exercise stress test outcomes, and lactic acid measurements were evaluated. Female athletes in both sports had higher body fat percentages relative to the average range stated for female athletes. Male speed skaters had a significantly higher maximum oxygen in-take than that male cross-country skiers did. By contrast, this parameter did not differ significantly among female athletes. A negative correlation was observed between the fat free mass and muscle mass, and a positive correlation was observed among the body fat percentage, fat percentage, and fat mass. Both male and female athletes had protein intake ratios within the reference ranges. All athletes except male speed skaters had lipid energy ratios that were higher than the upper limit of the reference value. Both male and female athletes also reported carbohydrate energy ratios within the reference ranges, but had cereal energy ratios below the reference values. Athletes should pay attention to the ingestion of various nutrients to ensure a sufficient energy intake. Accordingly, adolescent athletes should consume daily meals containing a good balance of staple foods, main dishes, side dishes, milk and other dairy products, and fruits.展开更多
In the cruise, MR15-04 by R/V MIRAI, the samplings by the neuston net were performed in 23rd November to 14th December 2016 and three species of Halobates (H. germanus, H. micans, H. sp) were used for the temperature ...In the cruise, MR15-04 by R/V MIRAI, the samplings by the neuston net were performed in 23rd November to 14th December 2016 and three species of Halobates (H. germanus, H. micans, H. sp) were used for the temperature tolerance experiments after the collection. The neuston net was towed three times (3 × 15 min) on the starboard side of R/V MIRAI on the water surface with ship speed of 2 knot to water every 3 nights (19:00 - 20:00) at the fixed point in the south-western direction which was located at 50 km from the Sumatra island (4o03'S - 4o05'S, 101o53'E) in the Indonesia. Experiments on cool coma and heat coma were performed on the three species. Seconds for recovery from cool coma and heat coma were also examined on the Halobates in this study. Cool coma temperatures, gap temperature needed (temperature from the adapted temperature) for the cool coma and seconds for the recover from cool coma ranged 13.0oC to 25.0oC, 3.1oC to 16.1oC, 1 second to 4370 seconds, respectively. Heat coma temperature, gap temperature needed for the heat coma, seconds for the recover from heat coma ranged 29.4oC to 43.1oC, 1.9oC to 15.5oC, 2 seconds to 6420 seconds, respectively. The higher temperature of cool coma temperature during the last five days was shown when Madden-Julian Oscillation has passed over the ship, R/V MIRAI than the previous 10 days in the adults of H. germanus collected at the fixed place neat to Sumatra island (One way ANOVA: F-value = 2.314, df = 7, p = 0.028). Adults of un-described species, H. sp collected near to the Sumatra island, showed lower cool coma temperature [Mean ± SD: 15.51 ± 3.76 (9)] than those of H. germanus collected in the same place [16.96 ± 2.57 (191)]. This lower cool coma temperatures shown by this un-described species might be related to that this species should be a “shore” species inhabiting shore water in which many precipitation could cause the decreased surface temperature from 30oC - 31oC into about 25oC. Most of adults which suffered from the cool coma recovered within 20 seconds, whereas adults which suffered heat coma at 38oC and 39oC needed more than 200 seconds for the recovery and many of those which did it at more than 40oC needed more than 1000 second and some ones did not recover at all. All adults who suffered at more than 43oC did not recover at all. There were significant and negative correlation between cool and heat coma temperatures shown by the adults of H. germanus. This correlation might imply a common physiological mechanism for lower and higher temperature tolerances for this species.展开更多
This study aims, first, to examine the limit for tolerance to lower salinity by an oceanic sea skater, Halobates micans, and , second, to make it clear whether exclusively fresh water Halobatinae species, Metrocoris h...This study aims, first, to examine the limit for tolerance to lower salinity by an oceanic sea skater, Halobates micans, and , second, to make it clear whether exclusively fresh water Halobatinae species, Metrocoris histrio has salinity tolerance. Adults of H. micans were collected using Neuston Net from the starboard side of R/V MIRAI on a fixed station at 8°S, 80°E, whereas those of M. histrio were collected from a small pond filled with a spring fresh water in Kochi (33°N, 133°E), Japan. Time in survival was measured in starved condition under several salinity conditions: 0‰, 2‰, 4‰, 6‰, 8‰, 9‰ and 10‰ for H. micans;0‰, 5‰, 10‰, 12.5‰, 15‰ for M. histrio. Half of adults were in coma due to lower salinity under 10‰ and time in survival was less than 10 hours under less than 4‰ for H. micans. Time in survival was half at 5‰ of 80 hours on average at 0‰ as a control and less than 10 hours at 10‰ or higher salinity for M. histrio. Relatively flexible osmo-regulation ability by H. micans would be related to wide variety of salinity condition of surface oceanic water, whereas very limited tolerance even to lower salinity of 5‰ may be permitted by the no chances to be exposed to brackish water in natural habitats of M. histrio. This study showed that salinity tolerance of Halobatinae species would reflect, directly, the salinity condition of their habitats.展开更多
Relationship of population density of oceanic sea skaters collected from tropical and subtropical zones in the Pacific Ocean was examined to chlorophyll concentration/Dissolved Oxygen concentration and biomass in surf...Relationship of population density of oceanic sea skaters collected from tropical and subtropical zones in the Pacific Ocean was examined to chlorophyll concentration/Dissolved Oxygen concentration and biomass in surface sea water. The four parameters shown above were measured at the site of 12<sup>o</sup>N 135<sup>o</sup>N during the cruise, MR13-03 cruise, and at the site of 25<sup>o</sup>N 160<sup>o</sup>E during another cruise KH-14-02. Significant and positive correlation between all biomass (especially invertebrates) and population density of oceanic sea skaters collected with a Neuston-Net trailing during 15 min was shown in overall analysis on the data of the both samplings (p <sup>o</sup>N 160<sup>o</sup>E than that at 12<sup>o</sup>N 135<sup>o</sup>N with similar value of chlorophyll value (p <sup>o</sup>N 160<sup>o</sup>E than that at 12<sup>o</sup>N 135<sup>o</sup>N for keeping high density population of oceanic sea skaters.展开更多
The main purpose of this study is to investigate temperature preference for habitat of three species of oceanic sea skaters, Halobates micans, H. germanus and H. sericeus. For each of the three species, we examined th...The main purpose of this study is to investigate temperature preference for habitat of three species of oceanic sea skaters, Halobates micans, H. germanus and H. sericeus. For each of the three species, we examined the relationship between population density and surface water and air temperatures in the sampling sites during three science cruises in the tropical to temperate zone of the Pacific Ocean. A higher density of H. micans was observed in sites with higher water and air temperatures at 28℃?- 30℃?than that at site with lower temperatures of 23℃?- 28℃. A higher density of H. germanus was observed in sites with extremely high temperatures of 29.6℃?and 30℃?than that in sites with moderately high temperatures of 28℃?- 29℃?in the Pacific Ocean, while a relatively high density was observed in sites with a wide range of temperatures from 24℃?- 30℃?in the southern hemisphere Pacific Ocean. The relatively low temperature preference of 23℃?- 28℃?exhibited by H. sericeus may be related to its size as the smallest among the three species and its relatively wide latitudinal distribution ranging up to 40?N.展开更多
BEFORE the ’98 Winter Olympic Games, the psychology teacher of the China National Speed Skating Team asked each member to write down a few words expressing their state of mind. "Others can’t scramble over you u...BEFORE the ’98 Winter Olympic Games, the psychology teacher of the China National Speed Skating Team asked each member to write down a few words expressing their state of mind. "Others can’t scramble over you unless you yourself bend down," wrote Wang Chunlu, a young skater from Changchun.展开更多
HARBIN, February, 1996. Only one Chinese athlete, wearing the No. 4 helmet, made it to the finals of the women’s short distant speed skating at the Third Asian Winter Games (TAWG). She was surrounded by one Japanese ...HARBIN, February, 1996. Only one Chinese athlete, wearing the No. 4 helmet, made it to the finals of the women’s short distant speed skating at the Third Asian Winter Games (TAWG). She was surrounded by one Japanese and four South Korean athletes, including some who had set world and Asian records. Almost no one believed that the Chinese woman could win. However, at least one person believed that she could—Yang Yang herself. In a short two minutes, she displayed her brilliance, overshadowing those world and Asian record holders. One day later, she joined her teammates in setting a new world record in the 3,000-meter relay race. Yang Yang emerged as a new star in the winter games.展开更多
文摘Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.
文摘The purpose of this study was to clarify the distribution of oceanic Halobates in the area of the Kuroshio flowing near the southern shore in the direction of 100° - 120°, and also to compare the population density of Halobates between the area within or outside the area of the Kuroshio and also among seasons. This study was carried out during 8 cruises by R/V TANSEIMARU. The Kuroshio area south of the southern Japan coast (30°00'N - 35°00'N, 130°25'E - 141°04'E) was dominated by H. sericeus, and the averaged population-density of this species was significantly higher inside the Kuroshio than outside this current. On the Kuroshio, H. sericeus was dominant with the population density of 16,396.4 km-2 ± 66,138.4 [26] (Mean ± SD [n]), whereas the density of H. germanus was 8,581.9 km-2 ± 24,443.2 [26]. The two oceanic sea skaters, H. sericeusand H. germanus showed significant seasonal variation in the population density, with significantly higher density in October than other months, whereas there was no such significant October peak in the cosmopolitan oceanic sea skater, H. micans. The results of this study may suggest that H. sericeus could use the Kuroshio as a transportation tool to distribute a wide latitude area of from 10°N to 40°N in the western tropical, subtropical and temperate area in the Pacific Ocean.
文摘This study aimed to determine the appropriate nutritional intakes and dietary habits of high school-aged cross-country skiers and speed skaters. The subjects, all high school students from N Prefecture, included 18 male cross-country skiers, 5 male speed skaters, 10 female cross-country ski players and 4 female speed skaters. Physical measurements, food intake frequency survey results, bone mineral density and exercise stress test outcomes, and lactic acid measurements were evaluated. Female athletes in both sports had higher body fat percentages relative to the average range stated for female athletes. Male speed skaters had a significantly higher maximum oxygen in-take than that male cross-country skiers did. By contrast, this parameter did not differ significantly among female athletes. A negative correlation was observed between the fat free mass and muscle mass, and a positive correlation was observed among the body fat percentage, fat percentage, and fat mass. Both male and female athletes had protein intake ratios within the reference ranges. All athletes except male speed skaters had lipid energy ratios that were higher than the upper limit of the reference value. Both male and female athletes also reported carbohydrate energy ratios within the reference ranges, but had cereal energy ratios below the reference values. Athletes should pay attention to the ingestion of various nutrients to ensure a sufficient energy intake. Accordingly, adolescent athletes should consume daily meals containing a good balance of staple foods, main dishes, side dishes, milk and other dairy products, and fruits.
文摘In the cruise, MR15-04 by R/V MIRAI, the samplings by the neuston net were performed in 23rd November to 14th December 2016 and three species of Halobates (H. germanus, H. micans, H. sp) were used for the temperature tolerance experiments after the collection. The neuston net was towed three times (3 × 15 min) on the starboard side of R/V MIRAI on the water surface with ship speed of 2 knot to water every 3 nights (19:00 - 20:00) at the fixed point in the south-western direction which was located at 50 km from the Sumatra island (4o03'S - 4o05'S, 101o53'E) in the Indonesia. Experiments on cool coma and heat coma were performed on the three species. Seconds for recovery from cool coma and heat coma were also examined on the Halobates in this study. Cool coma temperatures, gap temperature needed (temperature from the adapted temperature) for the cool coma and seconds for the recover from cool coma ranged 13.0oC to 25.0oC, 3.1oC to 16.1oC, 1 second to 4370 seconds, respectively. Heat coma temperature, gap temperature needed for the heat coma, seconds for the recover from heat coma ranged 29.4oC to 43.1oC, 1.9oC to 15.5oC, 2 seconds to 6420 seconds, respectively. The higher temperature of cool coma temperature during the last five days was shown when Madden-Julian Oscillation has passed over the ship, R/V MIRAI than the previous 10 days in the adults of H. germanus collected at the fixed place neat to Sumatra island (One way ANOVA: F-value = 2.314, df = 7, p = 0.028). Adults of un-described species, H. sp collected near to the Sumatra island, showed lower cool coma temperature [Mean ± SD: 15.51 ± 3.76 (9)] than those of H. germanus collected in the same place [16.96 ± 2.57 (191)]. This lower cool coma temperatures shown by this un-described species might be related to that this species should be a “shore” species inhabiting shore water in which many precipitation could cause the decreased surface temperature from 30oC - 31oC into about 25oC. Most of adults which suffered from the cool coma recovered within 20 seconds, whereas adults which suffered heat coma at 38oC and 39oC needed more than 200 seconds for the recovery and many of those which did it at more than 40oC needed more than 1000 second and some ones did not recover at all. All adults who suffered at more than 43oC did not recover at all. There were significant and negative correlation between cool and heat coma temperatures shown by the adults of H. germanus. This correlation might imply a common physiological mechanism for lower and higher temperature tolerances for this species.
文摘This study aims, first, to examine the limit for tolerance to lower salinity by an oceanic sea skater, Halobates micans, and , second, to make it clear whether exclusively fresh water Halobatinae species, Metrocoris histrio has salinity tolerance. Adults of H. micans were collected using Neuston Net from the starboard side of R/V MIRAI on a fixed station at 8°S, 80°E, whereas those of M. histrio were collected from a small pond filled with a spring fresh water in Kochi (33°N, 133°E), Japan. Time in survival was measured in starved condition under several salinity conditions: 0‰, 2‰, 4‰, 6‰, 8‰, 9‰ and 10‰ for H. micans;0‰, 5‰, 10‰, 12.5‰, 15‰ for M. histrio. Half of adults were in coma due to lower salinity under 10‰ and time in survival was less than 10 hours under less than 4‰ for H. micans. Time in survival was half at 5‰ of 80 hours on average at 0‰ as a control and less than 10 hours at 10‰ or higher salinity for M. histrio. Relatively flexible osmo-regulation ability by H. micans would be related to wide variety of salinity condition of surface oceanic water, whereas very limited tolerance even to lower salinity of 5‰ may be permitted by the no chances to be exposed to brackish water in natural habitats of M. histrio. This study showed that salinity tolerance of Halobatinae species would reflect, directly, the salinity condition of their habitats.
文摘Relationship of population density of oceanic sea skaters collected from tropical and subtropical zones in the Pacific Ocean was examined to chlorophyll concentration/Dissolved Oxygen concentration and biomass in surface sea water. The four parameters shown above were measured at the site of 12<sup>o</sup>N 135<sup>o</sup>N during the cruise, MR13-03 cruise, and at the site of 25<sup>o</sup>N 160<sup>o</sup>E during another cruise KH-14-02. Significant and positive correlation between all biomass (especially invertebrates) and population density of oceanic sea skaters collected with a Neuston-Net trailing during 15 min was shown in overall analysis on the data of the both samplings (p <sup>o</sup>N 160<sup>o</sup>E than that at 12<sup>o</sup>N 135<sup>o</sup>N with similar value of chlorophyll value (p <sup>o</sup>N 160<sup>o</sup>E than that at 12<sup>o</sup>N 135<sup>o</sup>N for keeping high density population of oceanic sea skaters.
文摘The main purpose of this study is to investigate temperature preference for habitat of three species of oceanic sea skaters, Halobates micans, H. germanus and H. sericeus. For each of the three species, we examined the relationship between population density and surface water and air temperatures in the sampling sites during three science cruises in the tropical to temperate zone of the Pacific Ocean. A higher density of H. micans was observed in sites with higher water and air temperatures at 28℃?- 30℃?than that at site with lower temperatures of 23℃?- 28℃. A higher density of H. germanus was observed in sites with extremely high temperatures of 29.6℃?and 30℃?than that in sites with moderately high temperatures of 28℃?- 29℃?in the Pacific Ocean, while a relatively high density was observed in sites with a wide range of temperatures from 24℃?- 30℃?in the southern hemisphere Pacific Ocean. The relatively low temperature preference of 23℃?- 28℃?exhibited by H. sericeus may be related to its size as the smallest among the three species and its relatively wide latitudinal distribution ranging up to 40?N.
文摘BEFORE the ’98 Winter Olympic Games, the psychology teacher of the China National Speed Skating Team asked each member to write down a few words expressing their state of mind. "Others can’t scramble over you unless you yourself bend down," wrote Wang Chunlu, a young skater from Changchun.
文摘HARBIN, February, 1996. Only one Chinese athlete, wearing the No. 4 helmet, made it to the finals of the women’s short distant speed skating at the Third Asian Winter Games (TAWG). She was surrounded by one Japanese and four South Korean athletes, including some who had set world and Asian records. Almost no one believed that the Chinese woman could win. However, at least one person believed that she could—Yang Yang herself. In a short two minutes, she displayed her brilliance, overshadowing those world and Asian record holders. One day later, she joined her teammates in setting a new world record in the 3,000-meter relay race. Yang Yang emerged as a new star in the winter games.
