Unlike computed tomographic images and magnetic resonance images (MRIs), sectioned images of the human body with real color and high resolution have certain advantages in learning and teaching anatomy. Comparisons between sectioned images of the brain and MRIs are useful in many ways. Therefore, we prepared 312 MRIs at ultrahigh field 7.0 T (axial direction 0.4 times 0.4 times 0.4 mm3voxel size) of a cadaver brain, 2343 sectioned images (axial direction, 0.1 mm intervals, 0.1 times 0.1 mm2pixel size, and 48 bits color) by serial-sectioning the cadaver head, 234 segmented images in which brain regions were separately delineated (1 mm intervals and 0.1 times 0.1 mm2pixel size) by outlining 64 head structures in sectioned images. Three-dimensional images of 64 head structures were made by volume reconstruction from sectioned images. In this research, advanced techniques and equipment enabled us to prepare quality 7.0-T MRIs, sectioned images, and segmented images of the head. These images are expected to contribute to our understanding of the topographic neuroanatomy of the head and to aid interpretations of MRIs and CTs of the human brain.

Trailer type mobile robots have been studied from the viewpoint of control and design of nonholonomic mechanical systems in literature. However, researches for its detailed closed form kinematic and dynamic modeling are rarely being progressed. Though the trailer type mobile robot is shaped like a kinematically redundant system consisting of surplus joints, its actual kinematic characteristic is similar to a closed chain system since the motion of every trailer is constrained to the ground and the following trailers' motion is dependent on the leading trailer's motion. The exact kinematic relationship between the leading trailer and the following trailers is derived by the transfer method using the augmented generalized coordinates. A general dynamic model is derived using the Lagrangian approach and load distribution algorithm is suggested. It can be seen that the proposed approach facilitates distribution of the system load to all trailers. Forward dynamic simulation is conducted to verify the effectiveness of the suggested kinematic and dynamic models.