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3-Nitrobenzanthrone (3-NBA) has been isolated from diesel exhaust and airborne particles and identified as a potent direct-acting mutagen in vitro and genotoxic agent in vivo. In order to evaluate the in vivo toxicity and carcinogenicity of 3-NBA in a situation corresponding to inhalation, a combined short-term and lifetime study with intratracheal (i.t.)(More)
3-Nitrobenzanthrone (3-NBA) is an urban air pollutant and rat lung carcinogen that is among the most potent mutagens yet tested in the Salmonella reversion assay. In the present study, 1 mg 3-NBA was administered orally to female F344 rats and DNA adduct formation was examined in liver, lung, kidney and five sections of the gastrointestinal (GI) tract at 6(More)
This paper proposes a new driver support system which assists driver's operation in an obstacle avoidance scene. The proposed system has actuator systems which are Electric Power Steering (EPS) and Direct Yaw-moment Control (DYC). The obstacle is detected as a differential feature value by using a microwave radar instead of a camera. Cooperative control is(More)
The carcinogenic vehicle emission product 3-nitrobenzanthrone (3-NBA) is known to rearrange in the atmosphere to the isomer 2-nitrobenzanthrone (2-NBA), which exists in 70-fold higher concentration in ambient air. The genotoxicity of 2-NBA and 3-NBA was studied both in vitro (human cell lines A549 and HepG2) and in vivo (F344 female rats intra-tracheally(More)
In this paper we propose an accurate state of charge (SOC) estimation method for a lithium-ion battery for hybrid electric vehicle (HEV) and electric vehicles (EV) use. Although it is important to accurately determine the SOC of a battery to achieve maximum efficiency and safety, none of the existing methods has achieved this perfectly. To address this(More)
— The purpose of this work is to enable risk-limiting electricity dispatch through a market mechanism. There has been a solid body of work on centralized risk-limiting dispatch, which guarantees that the risk of energy shortage is within a user-specified bound. The current trading mechanism of a day-ahead electricity market can be viewed as a market that(More)
The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called " decoupling identification " , for a serial two-link robot arm with elastic joints caused(More)