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Teleoperation technology of hydraulic general-purpose machinery was developed for land applications, particularly at disaster recovery sites. The technology level was significantly improved through practical application at disaster sites such as the Mt. Unzen-fugendake eruption in 1994 and the Usu volcano eruption in 2000. On the other hand, underwater work in harbors largely depends on divers because the scale of work is smaller and manual work is generally more appropriate. Another reason is that the special environments can lead to technological difficulties. Underwater work by divers, however, may be inefficient depending on oceanographic phenomena such as poor visibility and strong tidal currents, and it may also be unsafe because of the difficulty in perceiving and avoiding danger. In addition, long hours of underwater work can lead to a heavy physical load caused by the hydraulic pressure, placing greater demands on the worker than when working on land. In order to solve these issues, we propose the use of Augmented Reality technology for the teleoperation of underwater equipment. Using a laboratory model, we conducted controlled experiments and investigations on the reflection-force sensor mechanism. For the interface section, we fabricated a figure input unit similar in relationship to the front part of a backhoe, and conducted experiments to confirm the operational efficiency of its pointing action. This paper describes the development of an experimental land-based machine

Bipolar disorder is a chronic, recurrent disorder, and its dysfunction has been correlated with poor outcomes and increased risk of recurrence. The main purpose of the family therapy model at issue is to prevent the bipolar patient against recurrent episode.The focuses of the therapy sessions are on the apples drawn by the patient(DDAA), the patient, and the patient-parent relationship. Keywords are gathered from every participant during the therapy session. Besides, the subjects to have verbalized meaningful ideas or successful experiences are immediately, intensely praised by applause during the session. DAILY DRAW AN APPLE(DDAA) homework is that the patient has drawn an apple on a calendar everyday and shares with parents about the apple as well as the patient's feelings of the day. The participants of the family therapy are the patient, parents, and the therapists. The frequency of the model is once monthly. Each session consists of the 10 minutes pre-session, the 60 minutes family therapeutic session, and the 30 minutes post-session. It needs to be emphasized that the frequency of re-hospitalization definitely decreased after receiving therapy.Finally, positive transference was demonstrated in the high attendance rate, in their excitement in receiving the applause, and in their collaboration in presenting the keywords. With the aid of the family therapy, they have been almost free from affective symptoms, and the hostile dependent tie with their parents having been steadily improved. To prevent the bipolar patient against recurrent episode has been achieved in the five cases family therapy presented here.

Kazuya Nishio, Kentaro Kawai, Sang-Woo Kim, Tsunehiro Mizushima, Takashi Yamane Jun Hamazaki, Shigeo Murata, Keiji Tanaka and Yukio Morimoto* Research Reactor Institute, Kyoto University, Kumatori, Sennan, Osaka 590-0494, Japan, Graduate School of Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Graduate School of Pharmaceutical Sciences, Nagoya City University, 3-1 Tanabe-dori, Mizuho-ku, Nagoya 467-8603, Japan, Graduate School of Science, Tokyo Metropolitan University, 1-1 MinamiOsawa, Hachioji-shi, Tokyo 192-0397, Japan, Graduate School of Pharmaceutical Sciences, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan, The Tokyo Metropolitan Institute of Medical Science (Rinshoken), 18-22,Honkomagome 3-chome, Bunkyo-ku, Tokyo 1138613, Japan