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Byline: Hideaki Tai, Toshiyuki Murakami Recently, the importance of the robots for home, public places and many other places are increasing. In order to realise autonomous work in such dynamic and unknown environment, recognising external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor is proposed. Proposed system consists of two control subsystems, task execution and stabilisation control. The task execution control realises accurate tasks and quick movement. The stabilisation control stabilises the posture of the robot. Combining these two control systems by null space, robots can realise desired motion and stabilisation simultaneously. Experiments were carried out to show the validity of the proposed method.

El artículo trata el rol de los polimorfismos genéticos en la periodontitis. Afirma que la genética puede determinar la gravedad y grado de la periodontitis y que se está aplicando tecnología genética en el diagnóstico y tratamiento de esta enfermedad. Sugiere que la periodontitis puede explicarse en base a varias polimorfismos de alto riesgo que tienen perfiles de alta susceptibilidad.

Background: The pathobiology of systemic lupus erythematosus (SLE) is similar to that of periodontitis in that the immunoglobulin G Fc receptor (FcgammaR) and proinflammatory cytokines play an important role. Genetic variations of FcgammaR and interleukin (IL)-1 are associated with susceptibility to both diseases. Therefore, we evaluated whether the combination of FcgammaR or IL-1 polymorphic genes represents a common risk factor for SLE and periodontitis., Methods: The study population consisted of Japanese adults with SLE and periodontitis (SLE+P group; n = 46), SLE only (SLE group; n = 25), periodontitis only (P group; n = 58), and healthy individuals with no systemic or oral disease (H group; n = 44). Clinical periodontal condition was evaluated by measurement of probing depth, clinical attachment level, and alveolar bone loss. Genomic DNA was isolated from peripheral blood and analyzed for determination of FcgammaR genotypes (FcgammaRIIA, FcgammaRIIB, FcgammaRIIIA, and FcgammaRIIIB) and IL-1 genotypes (IL-1A +4845 and IL-1B +3954) by allele-specific polymerase chain reactions or DNA sequencing., Results: A significant overrepresentation of the R131 allele of stimulatory FcgammaRIIA and the 232T allele of inhibitory FcgammaRIIB was found in the SLE+P group compared to the H group (P = 0.01 and P = 0.0009, respectively). The combination of FcgammaRIIA-R131 and FcgammaRIIB-232T alleles yielded a strong association with SLE and periodontitis (SLE+P group versus P group: P = 0.01, odds ratio: 3.3; SLE+P group versus H group: P = 0.0009, odds ratio: 11.2). Furthermore, SLE patients with the combined FcgammaR risk alleles exhibited more severe periodontal tissue destruction compared to other SLE patients. The frequencies of IL-1 polymorphic alleles were too low to assess the association with SLE or periodontitis., Conclusion: The combination of stimulatory FcgammaRIIA and inhibitory FcgammaRIIB genotypes may increase susceptibility to SLE and periodontitis in the Japanese population.

To establish a simpler and more reliable method for retaining the aseptic condition of freeze-dried bulk product of a drug substance, a helium leak test method was developed. The bulk product is for the new kit system for infusion of our antibiotic product. In manufacturing the kit system, the bulk product needs to be transported outside of the aseptic area. We had to use a proper container to enclose the bulk product under aseptic conditions and establish an appropriate method for sterility assurance of the container. We decided to use a flexible aluminum laminate bag as a container and to seal it in a polyethylene bag. To detect tears or pinholes in the bag, a helium leak test was considered. As a tear model, a pinhole of known diameter was made in the aluminum laminate bag which was then filled with helium and sealed in a polyethylene bag. Helium leaking from the pinholes was measured with a helium leak detector, and leakage from a pinhole of more than 50 microm in the aluminum laminate bag could be detected. The amount of leakage was strongly affected by the pinhole diameter, and we developed a scientific approach for measuring leakage using the Poiseiulle Equation. The detection sensitivity of our method was enough to retain an aseptic condition inside the aluminum laminate bag, confirmed by the results of the process simulation test using our helium leak test. We concluded that our helium leak test was useful for sterility assurance of the bulk product sealed in the aluminum laminate bag in the manufacturing process of our kit system for infusion of our antibiotic product.

Described herein is an attempt to establish a simpler, more reliable method to maintain the aseptic condition of bulk materials of drug substances. The method would be used in the manufacturing process of our "double-bag" kit system for infusion, which has two compartments, one for the infusion liquid and another for the drug product. To manufacture the kit system, we used a flexible inner container to enclose the bulk under aseptic conditions and a method for ensuring sterility of the container. We used an aluminum laminate bag as the inner container, which was then enclosed in a polyethylene bag. To detect tears or pinholes in the bag, a helium leak test was evaluated. First, a simple experimental model of helium leakage from bags was established. In the model, a pinhole was made in a film disk of the aluminum laminate or polyethylene material used for the inner and outer bags. A helium leak detector was used to measure the escape of helium through the pinhole, and the leak could be detected from a pinhole from 10 microns in diameter. As the bulk product was doubly sealed in an aluminum bag and a polyethylene bag in the manufacturing process to maintain an aseptic condition, we also checked for helium leak from pinholes of film disks after connecting two film disks. The results showed that helium leak was detectable when the pinhole diameters of both film disks were more than 20 microns. Clearly, helium leak is strongly affected by pinhole diameter in both experimental models. We have calculated, for the pinhole geometries studied, helium leak rates by using the Poiseuille Equation. Calculated values were in agreement with experimental values.