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抗原变异可使得多种致病微生物易于逃避宿主免疫应答。表达在感染红细胞表面的恶性疟原虫红细胞表面蛋白1（PfPMP1）与感染红细胞、内皮细胞、树突状细胞以及胎盘的单个或多个受体作用，在黏附及免疫逃避中起关键的作用。每个单倍体基因组var基因家族编码约60种成员，通过启动转录不同的var基因变异体为抗原变异提供了分子基础。

疟原虫var基因转换速率变化导致抗原变异[英]／Paul H, Robert P, Christodoulou Z, et al//Proc Natl Acad Sci U S A

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Physical humanârobot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. An essential requirement of a robot designed for high mobility and direct interaction with human users or uncertain environments is that it must in no case pose a threat to the human. Until recently, quite a few attempts were made to investigate real-world threats via collision tests and use the outcome to considerably improve safety during physical humanârobot interaction. In this paper, we give an overview of our systematic evaluation of safety in humanârobot interaction, covering various aspects of the most significant injury mechanisms. In order to quantify the potential injury risk emanating from such a manipulator, impact tests with the DLR-Lightweight Robot III were carried out using standard automobile crash test facilities at the German Automobile Club (ADAC). Based on these tests, several industrial robots of different weight have been evaluated and the influence of the robot mass and velocity have been investigated. The evaluated non-constrained impacts would only partially capture the nature of humanârobot safety. A possibly constrained environment and its effect on the resulting human injuries are discussed and evaluated from different perspectives. As well as such impact tests and simulations, we have analyzed the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances. Finally, possible injuries relevant in robotics are summarized and systematically classified.

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Requirements for Safe Robots: Measurements, Analysis and New Insights

A subcutaneous drug delivery device having a housing having an internal reservoir in communication with a drug delivery needle via a fluid path. An expandable chamber disposed adjacent to the reservoir forces drug from the reservoir to the needle when supplied with a gas. A flow regulating chamber, in communication with the fluid path, is capable of volumetric changes in response to temperature and/or pressure changes. An increase in the volume of the flow regulating chamber increases flow resistance to the needle and thereby counteracts the corresponding increase in delivery rate resulting from the expansion of the expandable chamber due to the same volumetric changes in response to temperature and/or pressure. The device also includes an improved filling system that enables the reservoir within the device to be filled with drug from a source without regard to filling position and with a decreased risk of injury from needles. Moreover, the filling system provides an accurate measure of drug transferred into the device thus enabling patients to fill the devices and to ensure proper dosage upon delivery.

Subcutaneous drug delivery device with improved filling system

We discuss a way to achieve a fail-safe human/robot contact system. Most of our discussion is based on the human pain tolerance, evaluated for the purpose of establishing the human safety space. First we review our previous work on the human-oriented design of a safe robot and the procedure of covering a robot with a viscoelastic material to achieve both impact force attenuation and contact sensitivity, keeping within the human pain tolerance limit. The safe robot design is verified through a demonstration that the robot exerts a contact force much less than the human pain tolerance and gives no pain to humans. Next, we propose a more efficient human/robot system which attains velocity reduction on the robot side activated by the incipient contact detection at the surface and gives the human side an interval margin for the reflexive withdrawal motion to avoid the more severely interactive situation. The experimental result shows the effectiveness of the velocity reduction of the robot in a fail-safe manner.

Fail-safe human/robot contact in the safety space

Infrastructure pipes require inspection in order to prevent accidents. However, it is difficult to inspect a 1-in-diameter gas pipe because it is long, narrow and complicated. Therefore, an earthwo...

Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm’s locomotion

In recent years in Japan, over half of all workers suffered from lower back pain. This has become a social problem that needs to be addressed. To reduce its occurrence, we developed a flexible, high-output waist assist suit called “AB-Wear” in a previous study. The AB-Wear suit can assist human motion and reduce muscular fatigue of the waist. However, the assistive forces of the device generate compressive forces on the backbone, which have adverse effects on the body. Hence, in this study, we propose an exoskeleton-type AB-Wear equipped with a compressive force reduction mechanism, called “semi-endoskeleton-type AB-Wear”. This device has a reduction mechanism similar to a flexible flat spring behind the upper body. Because of this structure, this device can generate an effective assistive force. First, we explain the difference between the semi-endoskeleton-type AB-Wear and the previous device. Then, we model the semi-endoskeleton-type AB-Wear because the model is used for its operation. Moreover, its effectiveness is confirmed using musculoskeletal simulation. Finally it is evaluated by measuring surface electromyography (EMG) on a subject's body to confirm its effectiveness with a real body. The EMGs of the wearer with and without the suit are compared. The usefulness of the AB-Wear is confirmed by simulation and experiment.

Semi-endoskeleton-type waist assist AB-wear suit equipped with compressive force reduction mechanism

In this paper, a drilling robot based on earthworm locomotion was developed for seafloor exploration. Seabed mineral resources are found on the bottom of the ocean. The drilling robot developed herein can excavate and obtain samples of seafloor soil. This paper was inspired by the results of the previous study, in which a drilling robot based on earthworm locomotion developed for land successfully demonstrated the ability to create curved boreholes of 1670-mm turning radius and 613-mm depth. By principle, earthworm locomotion is propelled without rubbing the side of the robot against the wall of the borehole. That is, the movement is not affected by earth pressure, and thus it is facilitated deep into the soil region, which makes it is suitable for underground exploration robots. Seafloor explorations, in essence, could be realized by improving the gripping torque of the drilling robot and reducing its drilling torque. To resolve the problem, in this paper, three points were addressed. First, a setae-attached propulsion unit patterned to an earthworm structure was designed to attain an improved gripping torque for a subunit, typically at 30 kPa, by 1.7 times compared to that without setae. Second, the drilling resistance was reduced by the adjustment of the penetration and rotational speeds of the drilling robot based on the drilling properties of underwater ground. Lastly, the shape of the earth auger was considered for the reduction of the drilling torque. Following these solutions, the developed robot succeeded in drilling 430 mm into an underwater soil.

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Development of Underwater Drilling Robot Based on Earthworm Locomotion

In this study, a variable viscoelastic joint system comprising antagonized artificial muscles and magneto-rheological fluid brakes is proposed. This system enables human assisting devices such as robotic exoskeletons to retain structural softness when compared with the existing devices driven by motors and reduction gears, which can only achieve superficial softness. The authors had proposed the system and showed its effectiveness via experiments using a prototype with one degree of freedom in their previous works. In this study, as the next step in designing the human assisting device, a lower body assistive prototype “Airsist” is introduced. In addition, a control method that can cooperate with the wearer without the need for an additional operation is proposed.

Yasuyuki Yamada

Papers

Fail-safe human/robot contact in the safety space

Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm’s locomotion

Semi-endoskeleton-type waist assist AB-wear suit equipped with compressive force reduction mechanism

Development of Underwater Drilling Robot Based on Earthworm Locomotion

Variable viscoelastic joint system and its application to exoskeleton