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  • 1990-1994  (2)
  • 1990  (2)
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  • 1990-1994  (2)
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  • 1
    ISSN: 1432-0770
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Computer Science , Physics
    Notes: Abstract We proposed that the trajectory followed by human subject arms tended to minimize the time integral of the square of the rate of change of torque (Uno et al. 1987). This minimum torque-change model predicted and reproduced human multi-joint movement data quite well (Uno et al. 1989). Here, we propose a neural network model for trajectory formation based on the minimum torque-change criterion. Basic ideas of information representation and algorithm are(i) spatial representation of time,(ii) learning of forward dynamics and kinetics model and(iii) relaxation computation based on the acquired model. The model can resolve ill-posed inverse kinematics and inverse dynamics problems for redundant controlled object as well as ill-posed trajectory formation problems. By computer simulation, we show that the model can produce a multi-joint arm trajectory while avoiding obstacles or passing through viapoints.
    Type of Medium: Electronic Resource
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  • 2
    ISSN: 1432-0428
    Keywords: Hyperglycaemia ; embryogenesis ; rat embryo culture ; malformation ; sorbitol ; myo-inositol
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Summary To demonstrate the myo-inositol depletion hypothesis in hyperglycaemia-induced embryopathy, rat conceptuses of 9.5 days of gestation in the early head-fold stage were grown in vitro during neural tube formation for 48 h with increasing amounts of glucose. The effects of an aldose reductase inhibitor and the myo-inositol supplementation were also investigated. Sorbitol and myo-inositol contents were measured in separated embryos and extra-embryonic membranes including yolk sac and amnion at the end of culture. After addition of 33.3 mmol/l and 66.7 mmol/l glucose to the culture media, the myo-inositol content of the embryos was significantly decreased by 43.1% (p〈0.05) and 64.6% (p 〈 0.01) of the control group, while a marked accumulation of sorbitol was observed (25 and 41 times that of the control). Although the addition of an aldose reductase inhibitor (0.7 mmol/l) to the hyperglycaemic culture media containing an additional 66.7 mmol/l glucose significantly reduced the sorbitol content of embryos to approximately one-eighth, the myo-inositol content of embryos remained decreased and the frequency of neural lesions was unchanged (23.1% vs 23.9%, NS). Supplementation of the myo-inositol (0.28 mmol/l) completely restored the myo-inositol content of the embryos and resulted in a significant decrease in the frequency of neural lesions (7.1% vs 23.9%, p 〈 0.01) and a significant increase in crown-rump length and somite numbers. Much less significantly, sorbitol accumulation was also observed in the extra-embryonic membrane in response to hyperglycaemia, neither hyperglycaemia nor the myo-inositol supplementation modified the myo-inositol contents of the extra-embryonic membrane. We conclude that the mechanism of hyperglycaemia-induced teratogenicity was mediated by the myo-inositol depletion of the embryo at a critical stage of organogenesis.
    Type of Medium: Electronic Resource
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