We develop an over-ocean rainfall retrieval algorithm for the Advanced Microwave Sounding Unit (AMSU) based on the Global Satellite Mapping of Precipitation (GSMaP) microwave radiometer algorithm. This algorithm combines an emission-based estimate from brightness temperature (Tb) at 23 GHz and a scattering-based estimate from Tb at 89 GHz, depending on a scattering index (SI) computed from Tb at both 89 and 150 GHz. Precipitation inhomogeneities are also taken into account. The GSMaP-retrieved rainfall from the AMSU (GSMaP_AMSU) is compared with the National Oceanic and Atmospheric Administration (NOAA) standard algorithm (NOAA_AMSU)-retrieved data using Tropical Rainfall Measuring Mission (TRMM) data as a reference. Rain rates retrieved by GSMaP_AMSU have better agreement with TRMM estimates over midlatitudes during winter. Better estimates over multitudes over winter are given by the use of Tb at 23 GHz in the GSMaP_AMSU algorithm. It was also shown that GSMaP_AMSU has higher rain detection than NOAA_AMSU.

This paper analyzes grasp stability of two objects in two dimensions. In the previous researches on the grasp stability, the number of grasped objects is restricted to 1. For efficiency of tasks, multiple objects had better been grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects must be quantitatively evaluated. In case of two grasped objects in two dimensions, the number of parameters of object displacement is 6. However, the displacement of the objects is constrained by each other, because the contact between the objects must be maintained. Independent parameters of the object displacement are provided and then finger displacement is derived. The grasp stability is evaluated from the viewpoint of the potential energy method. From numerical examples, the effect of curvature at contact point between two objects is demonstrated. The effect of this curvature stands for the feature of multiple objects.