Development and Evaluation of the 1/30U Small-Sized 3 Axis Attitude Control Module, and its Application for the JEM Internal Ball Camera Robot

In this paper, we propose the 1/30U small-sized 3-axis attitude control module. The idea of using an electrical circuit board as a structural component reduces the mass of the mechanical structure and the electrical wiring as well. Adapting the System-On-Chip (SoC) reduced the circuit area while maintaining the complexity of the electric circuit. We managed to develop an attitude control module measuring 31 mm in size and 88 g in weight. This module contains 3-axis reaction wheels, six MEMS-IMU sensors (18-axis acceleration and 18-axis gyro), and an attitude control computer. The module only requires a power supply and external serial communication. The module can also be connected to other navigation sensor. And by adding the extension circuit, this module can drive and control 12 actuators, such as micro thrusters. An on-orbit evaluation was conducted with the JEM Internal Ball Camera Robot as the control system for robot position and attitude. The robot is an autonomous maneuverable ball-shaped camera that is operated by ground operators. Twelve micro fans and the proposed module are integrated inside the robot to realize 6-axes maneuvering, and a navigation camera provides the robot’s relative position and attitude to a target marker. This paper discusses an evaluation of attitude control accuracy to reveal the module’s on-orbit performance

A comparative study of nursing workforce planning policies related to recently qualified nurses in Scotland and Japan

This study investigated two cases in Scotland and Japan regarding government nursing workforce policies related to recently qualified nurses (RQNs) and the responses of clinical practice to these policies. Comparisons of findings and results between Scotland and Japan were made. Mixed methods were used including questionnaires (adapted POWCS and PES-NWI) and semi-structured interviews. In Scotland, five NHS managers, seven ward managers, and nine RQNs participated for the semi-structured interviews. A total of 119 Scottish RNs participated for the questionnaires. In Japan, seven nurse managers, six ward managers, and six RQNs participated for the semi-structured interviews. A total of 83 Japanese RNs responded to the questionnaires. In Scotland, three government initiatives related to RQNs for the last 5 years were identified; ‘One Year Job Guarantee’, ‘Flying Start’(FS), and ‘Early Clinical Career Fellowships’(ECCFs). Several responses in clinical practice to these initiatives were identified from the interviews and questionnaires. Firstly, FS and ECCFs were understood as ‘good support’ by managers and RQNs. However, RQNs did not find FS helpful for supporting their transition process. Lack of engagement and poor understanding among RNs was found to be an issue as well as a lack of evaluation and tracking system for FS and ECCFs on completion of the programmes In Japan, two major legislative changes related to RQNs for the last 5 years were identified; change in the Medical Care Fee Schedule for Remuneration and change in ‘Public Health Nurses, Midwives, and Nurses Act’ and ‘Nurse Provision Act’. An Increased number of RNs in the study hospitals was reported as an outcome for the Medical Care Fee Schedule for Remuneration. The increased annual inflow of RQNs caused issues such as increased workload for experienced nurses as well as a lack of the ability of experienced nurses as clinical educators for RQNs. Lack of funding and resources were found to be key issues for maintaining nurse staffing levels as well as the lack of a monitoring system for Japanese nursing workforce such as registration system. Findings from this study suggested several factors for better policy development and implementation related to RQNs in Scotland and Japan; 1) there is a need to establish an evaluation or monitoring system for government initiatives in both countries, 2) the importance of developing and implementing nursing workforce policies without large fluctuations in nursing workforce was highlighted, 3) the Japanese government needs to develop more integrated nursing workforce policies, 4) the importance of having engagement from RNs with policies related to clinical practice was reported, 5) finally, this study suggests that Scottish and Japanese governments need to keep the attempts to sustain the changes by previous policies. The findings added to the current knowledge by providing the insight of each country related to recently qualified nursing workforce policy from two single case studies

Physical Function and Low Back Pain in Leek Farmers: A Comparison with Non-Farmers

Background: The purpose of this study was to investigate the low back pain (LBP) and physical function of young to middle aged farmers of leeks in western Tottori Prefecture. Methods: Fifteen farmers (55 years old or younger) cultivating leeks in western Tottori Prefecture were recruited as the subjects, and 14 non-farmers matching the age and sex of the subjects were recruited as the control group. A questionnaire survey was conducted to determine the presence or absence of LBP, smoking, and alcohol consumption. Physical functions were measured by anthropometry (body fat percentage and muscle mass), Finger-Floor distance (FFD), back muscle strength, and upper body bending, and lumbar muscle cross-sectional area (CSA) was evaluated by magnetic resonance imaging (MRI). Results: Weight, BMI, body fat percentage, upper body bending, back muscle strength, and L3/4 iliocostalis lumborum CSA, current LBP were significantly higher in the leek farmer group. One-way analysis of variance showed significant differences in upper body bending, and history of LBP. Conclusion: LBP was more common among leek farmers. The characteristics of leek farmers with LBP were history of LBP

Minodronic acid influences receptor activator of nuclear factor κB ligand expression and suppresses bone resorption by osteoclasts in rats with collagen-induced arthritis

鳥取大学博士(医学)thesi

母体血よりの胎児DNA分離による出生前遺伝子解析

Cytochrome b5 reductase(b5R)遺伝子の異常による遺伝性メトヘモグロビン血症の出生前診断を目的として、異常部位の塩基配列の解明と確定診断への遺伝子増幅技術(PCR法)の適用を試み、胎児細胞を安全に収集する方法として母体流血中に含まれる胎児有核赤血球を対象とし、そのDNAを分析する標準的な操作を検討した。b5R遺伝子の解明から、本症の3種の病型に対してそれぞれ異なったエクソン部位の塩基配列異常の対応することが明らかとなり、それぞれのPCR法におけるプライマーを用意することが可能となった。母体流血中からの胎児有核赤血球の分離収集については、先ず臍帯血を利用して比重法による分離法を検討した。有核赤血球の確認には顕微鏡によるほか、比較的含有量の多い酵素の親和定数や活性化エネルギーのちがい等を用いた。DNAの抽出法については、蛋白水解酵素を用いる方法、市販の各種抽出キットによる方法を比較した結果、有機溶剤や酵素を使用しないものが簡便、迅速で回収率が高いので推奨された。以上の抽出法を臍帯血から分離した有核赤血球に適用し、b5R遺伝子のPCR法による増幅を試みた。しかしながら、母体流血中からの有核赤血球の比重法による単離にはバラツキが多く、胎児細胞採取の確実性を期すためには、むしろミクロマニピュレータを用いて一個一個の有核赤血球を顕微鏡下に捕集する方法が理想的と考えられた。We analyzed the NADH-cytochrome b5 reductase gene of hereditary methemoglobinemia type I,Type II and type III, and applied these results to prenatal diagnosis of this disorder.An alternative and noninvasive method for obtaining fetal cells from maternal circulation was studied. It was evident that nucleated erythrocytes were most disirable for this purpose. We studied also the methods for collecting nucleated erythrocytes, for extraction of DNA and for PCR (polymerase chain reaction) amplification of DNA by using cord bloods. Sedimentation method under different of gravity nucleated erythrocytes and selecting of single cell by micromanipulator were found to be most reliable for analysing DNA of the nucleated erythrocytes. PCR technique allowed the primers to anneal to their respective binding sites of Exon 2 and 5 of b5R gene and showed a positive PCR signal for 1.6 pg of DNA.研究課題/領域番号:05671918, 研究期間(年度):1993-1994出典：「母体血よりの胎児DNA分離による出生前遺伝子解析」研究成果報告書　課題番号05671918 (KAKEN：科学研究費助成事業データベース（国立情報学研究所）)　　　本文データは著者版報告書より作

軌道上でのワイヤ駆動型テレスコピック機構を用いたフリーフライング物体の捕獲把持機構技術の研究

電気通信大学202