This study investigates trends in health food research from 1975 to 2024 using text mining and generative AI. Analyzing 92,028 journal entries from Scopus revealed a significant increase in publications, with key topics including nutrients, bioactive compounds, disease prevention, and research methods. AI-assisted classification yielded 12 categories reflecting the field’s multidisciplinary nature. Trends include a growing focus on nutrients, health conditions, study design, and food production and consumption context. The findings highlight the increasingly interdisciplinary landscape of health food research, informing future directions and evidence-based decision-making.

Next-generation smart building schemes using information and communication technologies have been developed recently. Attracting particular attention are wireless positioning techniques used to manage workers' activities and their locations in buildings under construction. However, no wireless networks exist in such buildings. Moreover, building conditions can change drastically from moment to moment. Therefore, a simple positioning approach using a temporary use network is required. As described herein, we propose a floor height estimation method using an unlicensed band low-power wide-area network (LPWAN) for three-dimensional indoor positioning in buildings under construction, where a few 920 MHz LoRa nodes are deployed as a temporary use wireless network. The proposed method is based on a simple algorithm that estimates the height of a floor on which a target exists by comparing the received signal strength information (RSSI) from different floors. Experiment results clarify that the proposed method is effective for estimating a floor height of the target in both line-of-sight (LOS) and non-line-of-sight (NLOS) conditions.

Patient-specific biodegradable grafts target to enhance surgical repairs of complex congenital heart defects (CHD). This study reports the design, simulation, and creation of bifurcated right ventricle-pulmonary artery (RVPA) conduit grafts for patients with CHD. The original right ventricle outflow tract and RVPA conduit-anatomies of two patients (n=2) who previously underwent Rastelli type surgical repair for their CHD were created using medical image segmentation software based on magnetic resonance imaging data. The pulsatile RVPA flow was simulated utilizing computational fluid dynamics (CFD) to calculate important hemodynamic parameters. The re-designed RVPA geometries for the patients were created by varying the radius and angle of the pulmonary artery bifurcation. The wall shear stress and power loss results of the re-designed RVPA models were compared to identify the best performing graft. The hemodynamic results demonstrated that the designed optimized grafts outperformed the original grafts. To test the feasibility of designed grafts in vivo, the bifurcated RVPA conduit of a pig was manufactured using a 3D printed mandrel and electrospinning technique before the implantation. The implanted graft allowed new tissue formation within weeks. The results of our study and simulations provide an insight into the creation of optimal performing tissue-engineered bifurcated grafts for the patients with CHD in the surgical planning process. Integration of flow simulations to support design and electrospinning technique to manufacture patient-specific biodegradable grafts has the potential to improve surgical outcomes in CHD.

This paper presents Songle Sync, a web-based platform on which hundreds of Internet-connected devices - including smartphones, computers, and other physical computing devices - can be controlled to synchronize with music playback. It uses music-understanding technologies to dynamically synthesize music-driven multimedia performances from a musical piece of choice. To simultaneously control hundreds of devices, a conventional architecture keeps always-on connections between them. However, it does not scale and suffers from latency and jitter issues when there are various devices with potentially unstable networks. We address this with a novel autonomous control architecture in which each device is notified of forthcoming musical events (e.g., beats and chorus sections) to automatically drive various changes in multimedia performances. Moreover, we provide a development kit of an event-driven multimedia framework for JavaScript, example programs, and an interactive tutorial. To evaluate the platform, we compared latencies, jitters, and amounts of network traffic between ours and the conventional architecture. To examine use cases in the wild, we deployed the platform to drive over a hundred of a variety of devices. We also developed a web browser-based application for a multimedia performance with music playback. It provided audiences of hundreds with a bring-your-own-device experience of synchronized animations on smartphones. In addition, the development kit was used in a two-day hackathon. We report lessons learned from these studies and discuss the future of the Internet of Musical Things.

In recent researches relating to robotic fingers, a novel power transmission mechanism had been designed, and developed as Twist-drive Actuators or Twisted String Actuator systems (TSA). These actuation structures, state of the art, include compact designs, light-weight mechanical structures, inherent compliance, and variable gearing, resulting in the fabrication of anthropomorphic robotic hands. However, those studies mentioned position control of the joint, and focused on the control performance of the pulling forces of a twisted string. This paper, therefore, introduces a novel joint mechanism composed of an Antagonistically-twisted Round-belt Actuator (ARA), which is able to make rotating motion by means of contraction forces induced by twisting small-diameter elastic round-belts. A noteworthy point in this paper is that the ARA robot is extremely well-suited for contact force control, which is exerted on the tip of the single joint robot. First, we demonstrate the existence of hysteresis characteristics of static contraction forces induced by the round-belt twisting, in which three belts are simultaneously twisted at constant low-speed. In addition, there exists a stress relaxation phenomenon when strongly twisting the elastic round-belts. We reveal that such sorts of discontinuous and nonlinear properties do not influence control performance in either the contraction force on the belts or contact force on the tip of the robot. Finally, this paper clearly shows stable and accurate tracking performance of the contact force of the ARA robot. In these experiments, we newly develop a twin/triple-twisted round-belt structure for the agonist side actuator, thus enhancing the contact forces effectively.

This paper develops a novel robotic joint mechanism by means of twisting a small-diameter round-belt, which enables slow movements of joint rotation unlike direct-drive actuator mechanisms. The actuator mechanism proposed in this manuscript is composed of two small-diameter round-belts located near the joint with opposite configurations. The two round-belts are twisted by DC motors placed on a motor stage, which can be activated by a step motor. This novel mechanism realizes movement of the robotic joint around its axis due to contraction forces generated by twisting both round-belts. That is, these round-belts act as agonist and antagonist actuators for the robotic joint, which give a human-like compliance to the rotational motion of the joint. Experimental results using the proposed one-link robot show that a high position resolution of the joint control can be achieved by increases and decreases in the amount of twisting. In addition, we clearly indicate a linear relationship between twisting and the joint angle of the robot. Finally, this paper reveals that the antagonistic twist-actuator system has a secondary role as a gear reducer that is capable of largely decreasing the velocity of joint movement.

We have previously shown that hemispherical soft fingertips are at equilibrium when they are in contact with objects, suggesting that the contact force and flexibility of these soft fingertips are important for stable grasping and manipulation. Hence, by making use of these characteristics, soft fingers can manipulate objects dexterously. While our previous work has focused on pairs of 1-DOF fingers with soft fingertips, we present here a control scheme by which a pair of 2-DOF soft fingers can control a grasped object's planar location. This new control scheme consists of a proportional controller of finger joint angles and an integral controller of object location. We subsequently describe our formulation of the equations of motion of manipulations performed by a pair of 2-DOF soft fingertips. We then apply this control scheme to an experimental situation and to a simulation based on a parallel distributed virtual spring model to control the planar location of a grasped object. These findings demonstrate the validity of the proposed scheme. Finally, we show that extending the theory of the proposed controller can lead to the control of grasping forces.

This paper formulates the dynamics of 5 degrees-of-freedom (DOFs) robotic hand that consists of an index finger and an opposable thumb like the human hand. This system has two geometrical constraints and five velocity constraints generated during the object manipulation task. The three of the velocity constraints are associated with the joint angles of the robot, and are combined to the proposed system on the basis of observations about the fact that the distal two joints of the index finger are mechanically coupled. Based on the equations of motion including these constraints, we perform precise orientation control of a rectangular object grasped by the 5-DOFs robotic hand in the situation that grasping forces are not defined during the manipulation. The manipulation task given is one-finger control (index finger), for which a serial two-phased (STP) controller that had previously been proposed is modified. In experiments, we demonstrate that a simple integral controller designed by eliminating the second stage of the STP controller works well in the soft-fingered manipulation. In both simulations and experiments, it is clearly indicated that Jacobian matrices and the grasping forces are not necessarily required in the control law for accomplishing dexterous manipulation tasks. In other words, it is implied that a complete modelless and grasping-forceless control can be achieved in the task-space control.

This paper focuses on three-dimensional grasping and manipulation by robotic fingers with soft fingertips. The authors have proposed two-dimensional parallel-distributed model of a soft fingertip to describe the dependency of its potential energy to the relative orientation between the fingertip and the object. Here we extend the previous two-dimensional model to three-dimensional model, incorporating the rotation in three-dimensional space. We formulate the elastic potential energy stored in a soft fingertip due to the contact with the planar surface in three-dimensional space. We sketch the Lagrangian of the system consisting of a rigid prism grasped by three fingers with soft fingertips.

This study clarifies that secure dynamic manipulation by a pair of soft fingertips can be achieved easily without any information of a grasped object, which is called Blind Manipulation. First, we describe two holonomic constraints and two nonholonomic constraints induced by minimum dof soft-fingered grasping. Next, we represent Lagrangian of the soft-fingered hand system that includes the elastic energy of the fingertip, the four constraints, and also gravity effect. Furthermore, we express equations of motion of the grasped object from the Lagrangian, and simulate the dynamic behavior of the object. Finally, we clarify that the position and posture of the object always converge to a corresponding point when a pair of fingers is freely activated.

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energybased analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as Local Minimum of Elastic Energy with Constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

This paper provides that an elastic force and an elastic potential energy due to the deformation of soft fingers, which are previously derived, can be calculated into straightforward equations in an analytical way. These formulae lead to the fact that the potential energy of a soft fingertip is a function of two variables, and has a local minimum through the elastic rolling of a contacting object. We formulate four geometric constraints in grasping motions of a rigid object by means of two degrees of freedom robotic hand that has two rotational joints. We define a basic motion including translational and rolling motions when two fingers rotate by infinitesimal angle, and propose a quasi-static manipulation and its algorithm by using the local minimum of elastic potential energy (LMEE) of soft fingers with geometric constraints. In this theory, we define an energy function included in the LMEE algorithm. By solving that function we simulate the path of the center of gravity and the change of orientation of the grasped object, and compare those values with measurements experimentally obtained from a CCD camera equipped above the manipulated object. Finally, we confirm the effectiveness of the quasi-static manipulation theory based on the LMEE algorithm from experiments

The design of a mixed-signal CMOS low-voltage low-power circuit for a compact-size pulsed ultrasonic distance measurement system for obstacle detection is proposed. The presented mixed-signal CMOS circuit is completely realized with hardware components and does not employ microcontrollers. The whole circuit system works at a power supply of 0.9 V and dissipates no more than 267 muW. SPICE simulations are performed to validate the designed performances

The design of a mixed-signal CMOS circuit of ID-code and heartbeat signal processing blocks of a smart RF ID tag for mouse's heartbeat signal extraction is proposed. This smart RF ID tag has been under development for monitoring heartbeat signals from an electrocardiogram (ECG) microsensor and/or a pressure microsensor implanted in a transgenic mouse. This tag has an ID-code of 64-bits in length and generates heartbeat signal in the form of a position-pulse sequence

We propose a straightforward static elastic model of a hemispherical soft fingertip undergoing large contact deformation, as occurs when robotic hands with the fingertips handle and manipulate objects, which is suitable for the analysis of soft-fingered manipulation because of the simple form of the model. We focus on formulating elastic force and potential energy equations for the deformation of the fingers which are represented as an infinite number of virtual springs standing vertically. The equations are functions of two variables: the maximum displacement of the hemispherical fingertip and the orientation angle of a contacting planar object. The elastic potential energy has a local minimum in our model. The elastic model was validated by comparison with results of a compression test of the hemispherical soft fingertip

We derive a local minimum of an elastic potential energy due to the deformation of a hemispherical soft fingertip, and propose a quasi-static manipulation algorithm using the local minimum of the potential energy by means of two rotational fingers, on which the soft fingertips are mounted. In this model, a geometrical constraint between the grasped object and two fingertips, which includes the deformation of the fingertip, is derived. Using the constraint and the local minimum of the potential energy, we newly propose a numerical algorithm in the quasi-static manipulation. Finally, we conclude that the existence of the local minimum allows us to stably grasp an object in soft fingered manipulation.

This paper proposes a new contact deformation model between a hemispherical soft fingertip and an object. First, we develop our proposed contact model, in which an elastic potential energy is formulated. Second, we show that the elastic potential energy due to the deformation of the soft fingertip is proportional to the cube of the maximum displacement of that fingertip. Also, it is firstly shown that the elastic force and the potential energy are functions of two variables: the maximum displacement and the orientation angle of the contact object. The most important point is that the potential energy of the fingertip have a local minimum when the object contacts with the soft fingertip keeping a vertical direction. Finally, we show that the local minimum of the elastic potential energy also appears in experiments.

This paper proposes a new contact model of a soft fingertip attached on a rotational finger of one degree-of-freedom. We analyze the deformation of the soft fingertip statically, and introduce a virtual spring as an infinitesimal component of the soft fingertip. We correlate the derived force equation with a pressure distribution acting on a sensing plane. Finally we compare simulation results and experimental results to demonstrate our theoretical pressure model.

We developed a jaw movement training robot system implementing a 6-degree of freedom (DOF) parallel mechanism, and applied it to jaw opening and closing training, which is one of the therapies for temporomandibular joint disorders. As one application of this system, we developed an intermaxillary traction therapy system that provides non-physiological movements, whereby the patients' jaws receive traction to regenerate healthy temporomandibular joint tissue. This therapy is especially effective for patients with a symptom called "open bite", i.e. those who cannot completely close their jaws. Additionally, the previously developed mastication robot was applied to this robot system as a patient model, and the training movements of the training robot were evaluated.

This paper describes a jaw movement training robot system implementing a 6 degrees of freedom (DOF) parallel mechanism, and its application for lateral movement raining. Temporomandibular joints (TMJ) problem is a disorder, whereby patients are not able to open their mouths nor move their jaws easily because of the problems with the mandibular joints, mastication muscles, and other organs concerning food chewing. Conventional therapy has been done with simple mouth opening apparatuses based on a doctor's technique through their own experiences, while this is still common. The authors have developed and improved a jaw movement training robot system, which provides not only jaw open and close training but also consists of a 6-DOF slave manipulator as a patient working manipulator and a 3-DOF master manipulator as a doctor commanding manipulator.

We propose a simple contact model of a soft fingertip based on geometrical analysis and statics of the fingertip. First, we introduce a virtual spring system to the soft fingertip corresponding to one and two-dimensional contact between a planar object and a soft fingertip. Second, we describe pressure distribution, and estimate that equation by simulating and measuring total force and pressure center using tactile sensors. Finally, we describe how to obtain the orientation of an grasped object and the maximum displacement of a soft fingertip from the tactile sensor measurement.

This paper focuses on the fundamental deformation effect of soft fingertips as applied in soft-fingered object manipulations. In order to analyze the deformation effect, we first describe the dynamic relation of a two-fingered object manipulation using soft fingertips. From the dynamic relation, we show that the fundamental deformation effect of soft fingertips is essential for soft-fingered manipulations. A dynamic manipulation control method considering the deformation effect is also proposed. Simulation results show that the deformation effect of soft fingertips during the manipulation process is crucial for stable manipulation. Finally, we conclude that the deformation effect of soft fingertips is desirable to be properly considered in a manipulation control law for successful soft-fingered manipulation tasks.

This paper presents a design of a low-voltage fully differential current-mode analog CMOS integrator using FG (floating gate)-MOSFETs. The performances of the proposed circuit are predicted by theory and SPICE simulations. The integrator covers the frequency range 4 MHz-800 MHz at a 1.5 V supply voltage and dissipates DC power of about 74 /spl mu/W. The proposed integrator was fabricated in a Motorola 1.2 /spl mu/m CMOS process through VDEC (VLSI Design and Education Center).

A synthesis of analog fuzzy functional blocks (a complementary membership function circuit, a maximum circuit, a complementary maximum circuit, and a defuzzifier circuit) based on operational transconductance amplifiers (OTA's) is presented. The complementary membership function circuit and the maximum circuit are synthesized from the formulations using bounded-difference operations. The defuzzifier circuit is synthesized as the follower-aggregation circuit composed of multiplier-type OTA's, SPICE simulations showed that the proposed fuzzy functional blocks feature high-speed operations and low power consumption. The complementary membership function circuit, the maximum circuit, and the complementary maximum circuit were built with discrete components and commercially available OTA's, and the performances of these circuits were confirmed by experiments. As an application, a singleton fuzzy controller with 3/spl times/3 rules is synthesized using the proposed circuits. The simulation of this controller showed that the inference speed of the order of 15 MRPS (rules per second) is easily realizable.>

The efficient implementation of the neural network is a key task in looking for a high speed algorithm. In this paper, we address the problem of optimizing sequential and parallel algorithms for the Boltzmann Machine (BM). We present a novel parallel algorithm similar to the sequential one in the operational results and suitable for parallel hardware implementation of a BM. Since the algorithm performance depends on the probability of the accepted state transition in the annealing process, we increase the the rate of the state change to enhance this probability. In addition, we give the mathematical function describing the rate of the state change, provide experimental data on a well-known optimization problem TSP to have a verification of the function and show that the proposed algorithm obtains much more speedup in comparison with the traditional algorithm.>

Multiple-input maximum and minimum circuits in current mode are proposed. The operation of these circuits is formulated using simultaneous bounded-difference equations. The exact analyses are performed by solving the bounded-difference equations. The accuracy of these circuits is better than the accuracy of binary tree realizations using two-input max/min circuits because no accumulation of errors occurs; furthermore, the operation speed is higher than the speed of the binary tree realization. The proposed circuits consist of only MOS transistors and are compatible with standard MOS fabrication processes. These circuits are useful building blocks for a real-time fuzzy controller and a fuzzy computer.>