Yusuke Tamura

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This paper presents the design method for a humanoid which has a network based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn-OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment,(More)
The gene for the D-mandelate dehydrogenase (D-ManDH) of Enterococcus faecalis IAM10071 was isolated by means of an activity staining procedure and PCR and expressed in Escherichia coli cells. The recombinant enzyme exhibited high catalytic activity toward various 2-ketoacid substrates with bulky hydrophobic side chains, particularly C3-branched substrates(More)
Two forms of NAD-dependent D-mandelate dehydrogenase (D-ManDHs) were purified from Enterococcus faecalis IAM 10071. While these two enzymes consistently exhibited high activity toward large 2-ketoacid substrates that were branched at the C3 or C4 position, they gave distinctly different K(m) and V(max) values for these substrates and had distinct molecular(More)
The single amino acid replacement of Tyr52 with Leu drastically increased the activity of Lactobacillus pentosus NAD-dependent D-lactate dehydrogenase toward larger aliphatic or aromatic 2-ketoacid substrates by 3 or 4 orders of magnitude and decreased the activity toward pyruvate by about 30-fold, converting the enzyme into a highly active(More)
We describe a patient with acute necrotizing eosinophilic myocarditis who recovered rapidly after pericardial drainage and without corticosteroid therapy. The 25-year- old man was referred to our hospital with suspected acute myocardial infarction on the basis of severe epigastralgia, abnormal Q waves and ST elevation on electrocardiography, and an increase(More)
Body representation refers to perception, memory, and cognition related to the body and is updated continuously by sensory input. The present study examined the influence of goals on body representation updating with two experiments of the rubber hand paradigm. In the experiments, participants moved their hidden left hands forward and backward either in(More)
To achieve a balanced walking for a humanoid, it is necessary to estimate the dynamic stability of the system. However, in a small size humanoid with restricted system resource, it is hard to satisfy the performance level desired by dynamics analysis. Therefore, in this paper, we propose the feasible methods to generate gait pattern and stabilize walking(More)
In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a(More)
To develop an appropriate research platform, this paper presents the design method for a humanoid which has a network-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwInOP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple(More)
The aim of this paper is to propose a two-stage method of clustering in which the first stage uses one-pass k-median++ and the second stage uses an agglomerative hierarchical clustering. To handle medians in the second stage, we proposed two calculation methods. One method uses L<sub>1</sub> distance as similarity. Another uses error of L<sub>1</sub>(More)