Kinematics of the MIT-AI-VICARM Manipulator

This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-70-A-0362-0005.This paper describes the basic geometry of the electric manipulator designed for the Artificial Intelligence Laboratory by Victor Scheinman while on leave from Stanford University. The procedure for finding a set of joint angles that will place the terminal device in a desired position and orientation is developed in detail. This is on of the basic primitives that an arm controller should have. The orientation is specified in terms of Euler-angles. Typically eight sets of joint angles will produce the same terminal device position and orientation.MIT Artificial Intelligence Laborator

Divergence of Evolutionary Ways Among Common sym Genes: CASTOR and CCaMK Show Functional Conservation Between Two Symbiosis Systems and Constitute the Root of a Common Signaling Pathway

In recent years a number of legume genes involved in root nodule (RN) symbiosis have been identified in the model legumes, Lotus japonicus (Lotus) and Medicago truncatula. Among them, a distinct set of genes has been categorized as a common symbiosis pathway (CSP), because they are also essential for another mutual interaction, the arbuscular mycorrhiza (AM) symbiosis, which is evolutionarily older than the RN symbiosis and is widely distributed in the plant kingdom. Based on the concept that the legume RN symbiosis has evolved from the ancient AM symbiosis, one issue is whether the CSP is functionally conserved between non-nodulating plants, such as rice, and nodulating legumes. We identified three rice CSP gene orthologs, OsCASTOR, OsPOLLUX and OsCCaMK, and demonstrated the indispensable roles of OsPOLLUX and OsCCaMK in rice AM symbiosis. Interestingly, molecular transfection of either OsCASTOR or OsCCaMK could fully complement symbiosis defects in the corresponding Lotus mutant lines for both the AM and RN symbioses. Our results not only provide a conserved genetic basis for the AM symbiosis between rice and Lotus, but also indicate that the core of the CSP has been well conserved during the evolution of RN symbiosis. Through evolution, CASTOR and CCaMK have remained as the molecular basis for the maintenance of CSP functions in the two symbiosis system

Noble Gases in the Chelyabinsk Meteorites

The Chelyabinsk meteorite fell in Russia on February 15, 2013 and was classified as LL5 chondrite. The diameter before it entered the atmosphere has been estimated to be about 20 m [1]. Up to now, numerous fragments weighing much greater than 100 kg in total have been collected. In this study, all noble gases were measured for 13 fragments to investigate the exposure history of the Chelyabinsk meteorite and the thermal history of its parent asteroid

Accurate determination of the absolute 3He/4He ratio of a synthesized helium standard gas (Helium Standard of Japan, HESJ): Towards revision of the atmospheric 3He/4He ratio

The helium standard of Japan, referred to as HESJ, is an inter-laboratory standard for the 3He/4He ratio. While the ratio of 3He and 4He of the HESJ was previously determined by a relative comparison to atmospheric helium, the absolute value of the 3He/4He ratio of the HESJ has not been directly determined yet. Therefore, it relies on the early measurements of that of atmospheric helium. The accuracy of the absolute 3He/4He ratios of the atmosphere and other working standards including HESJ is crucial in some applications of helium isotopes, such as tritium-3He dating, surface-exposure age determination based on cosmogenic 3He, and the accurate measurement of the neutron lifetime. In this work, new control samples of helium gases with 3He/4He ratios of 14, 28, and 42 ppm were fabricated with accuracy of 0.25-0.38% using a gas-handling system for a neutron lifetime experiment at Japan Proton Accelerator Research Complex (J-PARC). The relative 3He/4He ratios of these samples and the HESJ were measured using a magnetic-sector-type, single-focusing, noble gas mass spectrometer with a double collector system. As a result, the absolute 3He/4He ratio of the HESJ was determined as 27.36 +/- 0.11 ppm. The atmospheric 3He/4He ratio was determined as 1.340 +/- 0.006 ppm, based on this work.Comment: 18 pages, 8 figures, 4 table

Survey of Period Variations of Superhumps in SU UMa-Type Dwarf Novae. VI: The Sixth Year (2013-2014)

Continuing the project described by Kato et al. (2009, PASJ, 61, S395, arXiv:0905.1757), we collected times of superhump maxima for 56 SU UMa-type dwarf novae mainly observed during the 2013-2014 season and characterized these objects. We detected negative superhumps in VW Hyi and indicated that the low number of normal outbursts in some supercycle can be interpreted as a result of the disk tilt. This finding, combined with the Kepler observation of V1504 Cyg and V344 Lyr, suggests that the disk tilt is responsible for modulating the outburst pattern in SU UMa-type dwarf novae. We also studied the deeply eclipsing WZ Sge-type dwarf nova MASTER OT J005740.99+443101.5 and found evidence of a sharp eclipse during the phase of early superhumps. The profile can be reproduced by a combination of the eclipse of the axisymmetric disk and the uneclipsed light source of early superhumps. This finding confirms the lack of evince of a greatly enhanced hot spot during the early stage of WZ Sge-type outburst. We detected growing (stage A) superhumps in MN Dra and give a suggestion that some of SU UMa-type dwarf novae situated near the critical condition of tidal instability may show long-lasting stage A superhumps. The large negative period derivatives reported in such systems can be understood a result of the combination of stage A and B superhumps. The WZ Sge-type dwarf novae AL Com and ASASSN-13ck showed a long-lasting (plateau-type) rebrightening. In the early phase of the rebrightening, both objects showed a precursor-like outburst, suggesting that the long-lasting rebrightening is triggered by a precursor outburst.Comment: 73 pages, 88 figures, accepted for publication in PAS

Increase in Cellulose Accumulation and Improvement of Saccharification by Overexpression of Arabinofuranosidase in Rice

Cellulosic biomass is available for the production of biofuel, with saccharification of the cell wall being a key process. We investigated whether alteration of arabinoxylan, a major hemicellulose in monocots, causes an increase in saccharification efficiency. Arabinoxylans have β-1,4-D-xylopyranosyl backbones and 1,3- or 1,4-α-l-arabinofuranosyl residues linked to O-2 and/or O-3 of xylopyranosyl residues as side chains. Arabinose side chains interrupt the hydrogen bond between arabinoxylan and cellulose and carry an ester-linked feruloyl substituent. Arabinose side chains are the base point for diferuloyl cross-links and lignification. We analyzed rice plants overexpressing arabinofuranosidase (ARAF) to study the role of arabinose residues in the cell wall and their effects on saccharification. Arabinose content in the cell wall of transgenic rice plants overexpressing individual ARAF full-length cDNA (OsARAF1-FOX and OsARAF3-FOX) decreased 25% and 20% compared to the control and the amount of glucose increased by 28.2% and 34.2%, respectively. We studied modifications of cell wall polysaccharides at the cellular level by comparing histochemical cellulose staining patterns and immunolocalization patterns using antibodies raised against α-(1,5)-linked l-Ara (LM6) and β-(1,4)-linked d-Xyl (LM10 and LM11) residues. However, they showed no visible phenotype. Our results suggest that the balance between arabinoxylan and cellulose might maintain the cell wall network. Moreover, ARAF overexpression in rice effectively leads to an increase in cellulose accumulation and saccharification efficiency, which can be used to produce bioethanol

RETRACTED: The Chromatin-Remodeling Complex WINAC Targets a Nuclear Receptor to Promoters and Is Impaired in Williams Syndrome

This article has been retracted: please see Elsevier Policy on Article Withdrawal (http://www.elsevier.com/locate/withdrawalpolicy).This article has been retracted at the request of the Authors.Our paper reported that a chromatin-remodeling complex, WINAC, recruited the unliganded vitamin D receptor to promoters in cooperation with the transcription factor implicated in Williams syndrome, WSTF. The findings provided insights into the coordination between chromatin remodelers and sequence-specific transcription factors and pointed to a role of chromatin remodeling defects in Williams syndrome. We recently identified errors affecting several figure panels where original data were processed inappropriately such that the figure panels do not accurately report the original data. We believe that the most responsible course of action is to retract the paper. We sincerely apologize to the scientific community for any inconvenience that this might cause. The first author, H.K., declined to sign the retraction notice

Administração de empresas no Japão: aspectos históricos e religiosos

Apesar de empresas serem indubitavelmente entidades seculares engajadas em atividades econômicas, no Japão, as maiores empresas (kaishas) têm dimensões religiosas. Por exemplo, kaishas constroem pequenos santuáríos xintoístas em suas sedes e conduzem regularmente cerimônias para rezar pela contínua prosperidade da empresa e pela segurança dos seus funcionários. Este artigo descreve e analisa os aspectos religiosos das empresas japonesas, particularmente enfocando kaishas que mantêm monumentos memoriais (kuyoto) no Monte Koya (Wakayama) e a importância destes como meio de identidade corporativa (lC). Por outro lado, os aspectos religiosos do kaisha enfatizam a continuidade cultural e organizacional da era feudal aos tempos modernos