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1 Vol.4, No.1, 19 April 2014 Monthly Lecture Meeting Published by the Medical Information System Laboratory of Doshisha University, Kyotanabe, Japan
2
3 Medical Information System Laboratory The Monthly Lecture Meeting Contents... 1 Bitcoin NAND SDx(Software Defined )
4 MEMS (Micro Electro Mechanical System)
5
6 Satoshi SHIGARAKI Tatsuya OKAMURA Ideya SUGITA Abstract GPU 1 CAD Computer Aided Design IT Information Technology CAD 1) CAD. GPU Graphics Processing Unit CAD 3D GPU 3D CT Computed Tomography CAD 3D 2 OS Operating System Fig. 1 2) 1 OS OS OS OS 1
7 Fig. 1 1) 2.1 OS OS 3) Fig. 1 OS OS OS 1 CPU Central Processing Unit HDD Hard Disk Drive OS OS OS 1 1 OS CPU 1 1 OS CPU OS Fig. 2 OS 2. Fig. 2 OS 1) OS OS OS OS 3) OS Mac Windows OS OS OS OS OS 2
8 OS OS OS 3) OS OS 2 OS OS OS OS PC Personal Computer VDI Virtual Desktop Infrastructure Fig. 3 Fig. 3 VDI PC, 3
9 1 PC VDI 3 GPU CAD 3D CAD GPU VDI 3.1 GPU GPU CPU GPU CPU 100 GPGPU General Purpose Computing On Graphics Processing Unit 4) 3.2 GPU GPU GPU GPU CPU GPU GPU GPU CAD 3D PC GPU 3 API GPU GPU API API GPU 5) Fig. 4 1 GPU API Application Programming Interface Citrix GPU CPU GPU CPU GPU 4
10 Fig. 4 API GPU GPU GPU 6) Fig. 5 GPU GPU API Fig. 5 GPU VMware vdga 7) GPU API GPU GPU GPU 6) Fig. 6 API GPU GPU API NVIDIA VGX 8) NVIDIA Kepler GPU VGX 5
11 Fig. 6 GPU VGX GPU 2 Per-VM Dedicated Channels GPU GPU GPU GPU GPU VGX GeForce GRID 9) Fig. 7 Fig. 7 GPU 100 ms VGX 10 ms CPU Fig. 7 9) VGX GPU Kepler GPU Kepler GPU 6
12 4 GPU GPGPU GPU 3D CT CAD 3D 5 GPU 1)., ),,.., ). [ 1 ]., 1, ),,,. Gpu 2 :goose ds-cuda, ) Citrix. Xendesktop ) NVIDIA. Nvidia grid ) NVIDIA. Vmware vdga ) NVIDIA. Nvidia kepler ) NVIDIA. Cloud
13 Bitcoin Izumi ISHIDA Kenichi TAKI Ayame MASADUMI Abstract Bitcoin P2P(Pear To Pear) 1 3 Bitcoin Bitcoin PC PC(Personal Computer) P2P 1) NBA(National Basketball Association) Bitcoin 2) ATM(Automated Teller Machine) Bitcoin ATM 3) Bitcoin 140 4) Bitcoin 2 Bitcoin Bitcoin 2008 P2P Bitcoin 2009 Bitcoin Bitcoin 2009 Fig. 1 3 Bitcoin 3.1 Bitcoin miner PC Bitcoin 50 8
14 ユーザー 数 ユーザー 数 [ 万 人 ] 日 付 [ 年 ] Fig. 1 ( 4) ) mining Bitcoin Bitcoin mining 2100 Bitcoin 5) Bitcoin ) Bitcoin mining mining Bitcoin Bitcoin Bitcoin Bitcoin Fig. 2 1) 1 Bitcoin Bitcoin 2 Hash 3 Bitcoin Hash Bitcoin Bitcoin 3 Fig. 2 4 PC Bitcoin Bitcoin 5 Bitcoin 5 9
15 Fig. 2 ( ) Bitcoin ) Fig. 3 1) 1 miner Hash nonce 2 Hash 3 Hash 4 Hash 5 Hash Bitcoin 6 Hash 7 nonce, 1 miner mining miner 2 Hash Hash Hash nonce Hash hash Hash 10
16 Fig. 3 ( ) Hash Hash nonce Hash nonce nonce Hash miner 3 Hash Hash Hash 4 Hash Hash Bitcoin Bitcoin 50Bitcoin miner 25Bitcoin mining Hash mining Bitcoin Bitcoin Bitcoin miner Bitcoin mining Bitcoin Bitcoin Hash Hash 11
17 Hash Hash Hash Hash Bitcoin Hash Bitcoin 3.3 Bitcoin Bitcoin 2100 Bitcoin 10 Bitcoin Bitcoin 4 Bitcoin 4.1 Bitcoin Bitcoin 6) Bitcoin Bitcoin Bitcoin Bitcoin Bitcoin Bitcoin Bitcoin 4.3 Bitcoin Bitcoin 2100 Bitcoin Bitcoin Mt.GOX Bitcoin 7) 5 Mt.GOX Bitcoin Mt.GOX Bitcoin 12
18 Mt.GOX Bitcoin 8) Bitcoin Bitcoin Bitcoin 8) Bitcoin Bitcoin Bitcoin mining Ripple Bitcoin 8) 6 Bitcoin Bitcoin P2P Bitcoin 9) 1) Satoshi Nakamoto. Bitcoin:A Peer-to-Peer Electronic Cash System. 2) THE WALL STREET JOURNAL. html. 3) THE WALL STREET JOURNAL. html. 4) BLOCKCHAIN. 5). 6). 7). 8).. 9). 13
19 Nachi TANAKA Kenya HANAWA Mao GOTO Abstract H H.264 / MPEG-4 AVC H.264 H.265 / MPEG-H HEVC ( H.265) ISO (International Organization for Standardization: ) IEC (International Electorotechnical Commissio: ) MPEG-1 4 (Moving Picture Experts Group) ITU-T (International Telecommunication Union-Telecommunication Standardization Sector: ) H.261 H.265 Table. 1 H H H.265 Table H.261 ITU-T 1993 MPEG-1 ISO / IEC CD 1995 H.262 / MPEG-2 ISO / IEC / ITU-T DVD-Video Blu-ray 1996 H.263 ITU-T 1999 MPEG-4 ISO / IEC 2003 H.264 / MPEG-4 AVC ISO / IEC / ITU-T Blu-ray ipod PSP 2013 H.265 / MPEG-H HEVC ISO / IEC / ITU-T 14
20 Fig. 1 H.264 H.265 Fig. 1 H.264 H.265 1) H.264 H H.264 MB Macro block H.265 CTU Coding Tree Unit CU Coding Unit TU Transform Unit PU Prediction Unit CU TU PU 2. DCT Discrete Cosine Transform. DCT. 2) 3. 1 H H , 1) 4. 4) 5. 15
21 Table. 2 Table. 2 A B C D A B C D Table. 2 (1) = = 1.7 (1) H.265 / HEVC (High Efficiency Video Coding) 3.1 H.265 ISO IEC ITU-T H.264/AVC CS 4 8 4K 8K H.265 H.265 H H H.265 5) 3.2 H H.265 CTU CTU CTU 4 3) Fig. 2(a) CTU Fig. 2(b) 4 CU CTU CU CTU CU PU TU PU TU PU TU PU CU
22 (a) CTU (b) 4 Fig. 2 1) 3.3 H.265 H H.265 / HEVC 4K 4K K 4K 8K H.265 H CPU 4 H.265 H.265 H.265 4K 8K 1),,,. hevc. NTT, p. 54, ). Hevc ( ) (hevc (mpeg-h/itu-t h. 265) ). = The Journal of the Institute of Image Information and Television Engineers, Vol. 67, No. 7, pp , ). hevc. IEICE Fundametals Review, Vol. 7, No. 3, ). ( ) (hevc (mpeg-h/itu-t h. 265) ). = The Journal of the Institute of Image Information and Television Engineers, Vol. 67, No. 7, pp , ),,. hevc ( ). Toshiba review, Vol. 68, No. 2, pp ,
23 Akiho MURAKAMI Shogo OBUCHI Ayumi OMURA Abstract, (Artificial Intelligence: AI), 1) 2011? )
24 3 1980, 3) ) USB Wikipedia Wikipedia 5) T1 T2 Fig. 1 T1 T T1 T2 19
25 Fig. 1 ( 3) ) ) , Fig. 2 (quantifier elimination: QE) 7) ( ) ( ) QE Fig. 2 ( 7) ) 20
26 3.4 Fig. 3 Modelica 8) Fig. 3 ( 8) ) Table Table. 1 IA IIB IT 21
27 5, ),.., Vol. 27, No. 5, pp , ). What s AI. 3). Todai Robot Project ).., Vol. 27, No. 5, pp , ),.., Vol. 27, No. 5, pp , ),,,,.. In The 27th Annual Conference of the Japanese Society for Artificial Intelligence, pp , ),,.., Vol. 27, No. 5, pp , ),.., Vol. 27, No. 5, pp ,
28 NAND Ryota TAMURA Kohei MISHIMA Shunsuke SEKIYA Abstract USB NAND 3 NAND BiCS BiCS NAND 1 NAND NAND 2 NAND 3 NAND 2 NAND NAND Semiconductor non-volatile memory Fig. 1 MROM Mask Read Only Memory PROM Programmable Read Only Memory UV-EPROM Ultra-Violet Programmable Read Only Memory EEPROM Electrically Erasable and Programmable Read Only Memory EEPROM Conventional EEPROM Flash EEPROM NOR NAND NAND NAND SAM 1) Fig. 1 23
29 3 2 NAND NAND NAND 1987 NAND NAND SD USB WALKMAN HDD Hard disc drive SSD Solid state drive NAND 2 NAND DSC NAND. NAND. NAND 2).. NAND 1, 2) NAND NAND NAND 2 3 MOSFET Metal-Oxide-Semiconductor Field-Effect Transistor 4 1) Fig. 2 NAND Fig. 2 1) Fig. 3(a) Fig. 3(b)
30 1V 5V 0 1 1) (a) 0 (b) 1 Fig. 3 1) / NAND n Fowler-Nordheim Tunneling 5 FN Fowler Nordheim FN Fig. 4(a) FN Fig. 4(b) 1) (a) (b) Fig. 4 1) NAND
31 NAND 1 2.1k k, NAND 1 1, 2) 3.3 NAND SD 32G 64G NAND Fig ) ,,.,. SD,,., 19nm 1, 3) NAND 2 NAND NAND 6 NAND 2, 4, 5) 3 NAND 4 3 NAND NAND NAND 3 1. BiCS Bit-Cost Scalable Technology 2. TCAT Terabit Cell Array Transistor 3. VG-NAND Vertical Gate NAND 4. Simply-stacked NAND 5. 3D FG-NAND w/esc 3D Floating Gate-NAND with the Extended Sidewall Control Gate 6. DCSF NAND Dual Control-Gate with Surrounding Floating-Gate
32 BiCS BiCS 4.2 BiCS BiCS BiCS Memory cell array Fig. 5 Fig. 5(a) Fig. 5(b) 7 RIE Reactive Ion Etching 8 5) (a) (b) (c) Fig. 5 BiCS 4) BiCS BiCS 3 5) 4.3 BiCS BiCS BiCS BiCS BiCS NAND NAND string 9 2 NAND BiCS BiCS NAND BiCS 10 Fig. 6 BiCS 5) BiCS 2 NAND 1 NAND string 1 2 NAND 2 NAND
33 (a) (b) 3 Fig. 6 BiCS 4) BiCS FN BiCS 11 GIDL Gate Induced Drain Leakage 12 Fig. 7 GIDL GIDL 2 NAND Fig. 8 GIDL 5, 6) Fig. 7 GIDL Fig. 8 BiCS 4) 11 12, 28
34 4.3.3 BiCS BiCS BiCS BiCS.4 3, 5) 4.4 BiCS p-bics BiCS p-bics pipe-shaped BiCS p-bics p-bics BiCS p-bics NAND string NAND string NAND string 13 NAND string Fig. 9 Fig. 9 p-bics 3) p-bics , 4) BiCS BiCS CVD Chemical Vapor Deposition MOS
35 Fig. 10 p-bics 4) Fig p-bics BiCS 2014 p-bics 1 p-bics 3 NAND SSD BiCS 1 32G 3.7G 1 1T 116.4G 2 NAND 1 128G 14.9G 3 NAND NAND 30 NAND NAND BiCS p-bics NAND 1). Silicon movie nand. FED, No. 3, pp , )., No. 9, pp ). 3 bics., Vol. 64, No. 12, pp , ). 3 bics., Vol. 66, No. 9,
36 5),,. 3 nand., Vol. 63, No. 2, pp , ).. Design Wave Magazine, No. 1004, pp ,
37 Satoru ITO Shogo OBUCHI Hideyuki MATSUURA Abstract 1 Information and Communication Technology: ICT ICT ICT ICT 2 1) Google IBM IBM Central Processing Unit: CPU Power Ghz 1TB 2) (2001 ) 2 750MHz 1024MB 10 3) Power7 Power CPU 32
38 2.0.3 PC PC 3 LiDAR 4) POSITION ESTIMATOR VIDEO CAMERA DISTANCE SENSOR GPS PC Google Fig. 1 Google PC Fig GPS PC Google Map GPS LiDAR LiDAR PC 3D LiDAR 3 1,333,000 LiDAR 33
39 DISTANCE SENSOR VIDEO CAMERA 3.2 PC 5) 4 IBM power750 IBM Power IBM Content Analytics 3 Jeopardy! 6) 7) Fig ? 4.2 ( )
40 Fig. 2 6 PC 1). 2) power ) Power4. search= IBM+power+4, ) HDL-64e ) Google 1GB Google ) What Is Watson? ) :Watson. iodc2011_2k-2.pdf#search,
41 Software Defined Megumi MIYAJIMA Shunsuke OHTANI Yuji NISHIMURA Abstract Software Defined SD 1 IT Software Defined ( SD ) SD SDN (Software Defined Network) SDS (Software Defined Storage) SDR (Software Defined Radio) 2 Software Defined 2.1 Software Defined Network Fig. 1(a) SDN Fig. 1(b) SDN SDN Open Flow Open Flow SDN Fig. 1(a) Open Flow ( ) Open Flow ( ) Open Flow Open Flow Open Flow 36
42 Fig. 2 Open Flow 1) (a) (b) SDN Fig. 1 SDN ( 2) ) Fig. 2 Open Flow ( 1) ) 2.2 Software Defined Storage SDS Fig. 3 SDS Fig. 3 37
43 Fig. 3 SDS ( 3) ) SDS VVAULT Fig. 4 VVAULT VVAULT 4) Fig. 4 VVAULT ( 5) ) 2.3 Software Defined Radio LAN LAN SDR SDR FPGA Fig. 5 FPGA FPGA AND OR FPGA FPGA FPGA FPGA SDR Fig. 5 FPGA Fig. 6 SDR Fig. 6 A/D SDR 38
44 Fig. 7 AM/FM TV ETC Fig. 7(a) Fig. 7(b) 1 6) Fig. 5 FPGA ( 7) ) アンテナ Ch1 OUT1 アンテナ Ch1 Ch2 アンテナ OUT OUT2 (a) (b) 1 Fig. 6 ( 8) ) (a) (b) Fig. 7 ) ( 9) 39
45 3 Software Defined Software Defined SDN 10) 4 IT Software Defined SD SD 1). open flow/sdn! 2) 5 open flow. 3).. 4) publickey. software defined storege 5) OREGA. Vvault-. 6). software defined radio-. 7). Fpga. 8).. 9). pc. 10).., 5,
46 Emiko SHIMOMURA Kenya HANAWA Tomoya YOSHIDA Abstract MET s Metabolic equivalents 1[MET s] 3[MET s] Table. 1 Ex [MET s] T [s] 41
![Table. 1 [MET s] 3 4 6 8 Fig. 1 1[Ex] e[ex] E[kcal] W [kg] (1) E[kcal] = 1.](/docs-images/41/22581933/images/47-0.png "05 e[ex] W [kg] (1) 3 Fig. 1 3.")
47 Table. 1 [MET s] Fig. 1 1[Ex] e[ex] E[kcal] W [kg] (1) E[kcal] = 1.05 e[ex] W [kg] (1) 3 Fig MEMS(Microelectromechanical Systems) 1 MEMS MEMS 1 42
![3.1.1 k m[kg] x[m] a[m/s 2 ] F [N] (2) F = ma (2) (3) F = kx (3) (2) (3) (4)](/docs-images/41/22581933/images/48-0.png "a = kx m (4) Fig. 2 Fig. 3 Analog Devices 2 3 Fig. 2 1) 1) 3.2 3.2.1 2 3 20G 43")
48 3.1.1 k m[kg] x[m] a[m/s 2 ] F [N] (2) F = ma (2) (3) F = kx (3) (2) (3) (4) a = kx m (4) Fig. 2 Fig. 3 Analog Devices 2 3 Fig. 2 1) 1) G 43
49 Fig. 3 1) MEMS 4 Fig. 4 m[kg] v[m/s] ω[m/s 2 ] F c [N] (5) F c = 2mvω (5) 3. 検 出 振 動 伝 達 2.コリオリ 振 動 (a) (b) Fig. 4 2) Fig
50 圧 力 半 導 体 ひずみゲージ ダイヤフラム 空 洞 部 Fig. 5 3) 5 6 Fig. 6(a) L[m] S[m 2 ] R[Ω] (6) R = ρ L S (6) L L+1 S S-s (a) 1 (b) 2 Fig. 6 Fig. 6(b) R [Ω] (7) (8) R = ρ L + 1 S s (7) R > R (8) 4 Fig. 7 Table. 2 3 Active style Pro 3 MY CALORY ViM
51 (a) Active style Pro (b) MY CALORY (c) ViM 4) 5) 6) Fig. 7 4) 5) 6) Table. 2 [mm] [g] Active style Pro MY CALORY YAMASA ViM MicroStone MEMS
52 1) Tomoaki Tsuzuki. \files/jp/application_notes/anj-0005_jp.pdf. 2),,.. gihou30/pdf/g_09.pdf. 3). MEMS. seminar/pdf/07_3.pdf. 4). HJA-350IT Active style Pro. omron.co.jp/product/hja/hja-350it.html. 5) MicroStone. ViM. \vim.html. 6) YAMASA. MY CALORY HIA-350IT Active style pro. \tokei.co.jp/seihin/katsudouryoukei/mc_700.html. 47
53 Makoto TAKENAKA Kenichi TAKI Toshihide SHIRAISHI Abstract 1980 MEMS IEEE , IEEE Central Processing Unit IT Google GoogleGlass Apple iwatch 2 Hands Free 1980 Global Positioning System (PC). Bluetooth GoogleGlass CT(Computed Tomography) 48
54 1) 3 CPU MEMS(Micro Electro Mechanical Systems) IEEE IEEE IEEE IEEE IEEE IEEE 1 IEEE802 IEEE.IEEE LAN(Local Area Network) IEEE802 IEEE BAN(Body Area Network) BAN WAN(Wide Area Network) LAN PAN(Personal Area Network) BAN WAN LAN 100m PAN 10 20m BAN 2m IEEE ) IEEE Table BAN Table Institute of Electrical and ElectronicsEngineers 49
55 1. 1 BAN (Poll 2 ) PHY PHY(Physical Layer) OSI BAN IEEE PHY PHY (NB: Narrow Band)PHY (UWB: Ultra Wide Band) PHY, (HBC: Human Body Communication)PHY Table Table. 2 PHY [MHz] [kbps] 400,800,900,2360, PHY UWB , PHY HBC PHY
56 Fig. 1 3) Fig. 2 Fig. 1 Fig V 3.7V 4) GoogleGlass 570mAh 1800mAh 51
57 3 1 6 HandsFree HandsFree Google Glass MEMS IEEE Bluetooth GoogleGlass GoogleGlass 1) Appllio. 2). 3). sonota/map/denki15/1/1-5-2.htm. 4). 52
58 Jun NISHIDA Katsutoshi HAYASHINUMA Natsuko ONISHI Abstract ,, cryoprecipitated plasma CPP 72 8 CPP 17 1)
59 ) , 3.2 Table. 1 2 Table. 1 54
60 3.3 Hydroxy Ethyl Starch(HES) 72 3) Table C16 C16 C16 C16 C16 C16 4) TransMedics OCS(Organ Care System) 5) OCS OCS OCS OCS 55
61 Fig. 1 OCS(TransMedics ) 6) OCS 1) 1. ]. 2). uw(university of wisconsin)., Vol. 24, No. 2, ). /disp-a, html. 4),. 5). 6) Ocs lung now available in europe and australia. 56
62 Takuya YOSHIDA Katsutoshi HAYASHINUMA Atsuko HAYAKAWA Abstract, 1 (LASER) Light Amplification by Stimulated Emission of Radiiation ) T.H.Maiman ), L.Goldman Fig 増 幅 器 レーザー 媒 体 励 起 源 出 力 ミラー 全 反 射 ミラー Fig. 1 ( 2) ) 57
63 2.2 Fig. 2 光 電 子 光 励 起 状 態 基 底 状 態 の 原 子 励 起 状 態 の 原 子 基 底 状 態 Fig. 2 ( 2) ) 2.3 Fig. 3,,,. 励 起 状 態 光 光 基 底 状 態 Fig. 3 ( 2) ) 2.4 Fig. 4, 1 2, 3 1. ( ) 2. ( ) 3. ( ) 光 光 光 光 励 起 状 態 基 底 状 態 Fig. 4 ( 2) ) 2.5 Fig , Nd:YAG(Yttrium,Aluminium,Garnet) 58
64 Fig. 5 ( 2) ) Fig. 6,., 2, [µm] Fig. 6 ( 3) ) Nd:YAG Nd:YAG YAG(Y 3 Al 5 O 12 ) Y Nd( ).,,. (1064 nm), 1064 nm. KTP KT iop O 4 2 ( 532 nm) , , Nd:YAG.,, 59
65 . 4) , 1000,., 5) Nd:Yag Nd:YAG,. 1064[nm] 532[nm].1064[nm],,.532[nm],, ( ). 3.2 PDT(photo dynamic therapy) 6) femto, :f YAG 7) 5 Nd:YAG. 1), 2), 60
66 3). (nc). 4). CD X ).., 1, ). (pdt). 7),. 61
67 MEMS (Micro Electro Mechanical Systems) Hayato TANAKA Kohei MISHIMA Mao GOTO Abstract MEMS (Micro Electro Mechanical Systems) MEMS MEMS 1 MEMS (Micro Electro Mechanical Systems ) MEMS MEMS MEMS 2 MEMS MEMS IC (Integrated Circuit ) 1). RF (Radio Frequency ) MEMS 2.1 MEMS MEMS 2) MEMS IC IC MEMS IC MEMS Fig. 1 MEMS MEMS 62
68 Fig. 1 MEMS Fig MEMS MEMS IC 2) MEMS Fig. 2 IC MEMS 3 MEMS MEMS 63
69 Fig. 3 (Drug Delivery System:DDS) DDS DDS MEMS MEMS 3 4 LED DDS Fig. 3 MEMS 3.2 MEMS DDS MEMS MEMS Fig. 4 MEMS 3) 4 MEMS MEMS. MEMS MEMS 64
70 Fig. 4 MEMS MEMS MEMS CMOS (Complementary Metal Oxide Semiconductor) CMOS IC CMOS MEMS MEMS 5 IC MEMS MEMS MEMS CMOS IC MEMS 1). MEMS., ).., ). MEMS
71 Chiyuki ITO Shunsuke OHTANI Nozomi MASHIMA Abstract 1 ( ) 45nm ) (graphene) Fig. 1(a) sp2 (graphite) Fig. 1(b) 2) (a) (b) Fig. 1 ( 3) ) 66
72 Table Table. 1 2) [cm 2 /Vs] [nm] [µw/mk 2 ] 200, ,500 1, (LSI) Fig. 2 n p 67
73 4) Fig. 2 ( 4) ) 3.2,,, ITO( ) ITO Fig. 3 5) Fig. 3 ( 5) ) 68
74 4 Fig. 4 CVD (CVD:chemical vapor deposition) 6) H2 CH4 グラフェンの 形 成 基 板 基 板 グラフェン 成 Fig. 4 CVD ( 6) ) 5 CVD 1) EE Times Japan. 7 7nm 5nm. 2)..,. 3).. 4).. html. 5) TOSHIBA )
75 Takuya MORISHITA Takuma SATO Yuuki OHKUBO Abstract HAL Hybrid Assistive Limb HAL HAL 1 1) 2) QOL Quality of Life 2, 3, 4). HAL Hybrid Assistive Limb HAL 2 5) HAL 1, 6, 7) 1, 8) 70
76 Breleley Robotics and Human Engineering Laboratory BLEEX Berkeley Lower Extremity Exoskeleton 9) 3 Hybrid Assistive Limb HAL 10) HAL DC 11). HAL HAL HAL Fig. 1 HAL 6) 2 HAL HAL 10) 上 位 運 動 中 枢 系 表 筋 電 位 筋 サイバニック 随 意 制 御 トルク 仮 想 トルク 使 者 の アクチュエータ の 律 系 サイバニック 律 制 御 Fig. 1 ( 6) ) 3.1 HAL Fig. 2 71
77 Bioelectrical signal Amplifier Analog Filter + - Pre-Amp Gain Amp Gain High pass filter Cutoff freq.33hz Low pass filter Cutoff freq.500hz Toruqe HAL's computer Digital Filter Neural network Low pass filter Moving average Fig. 2 ( 11) ) 10µV 800µV 0 500Hz Fig Bioelectrical signal [ V] Time [s] Fig. 3 ( 11) ) 2 72
78 ) mm 2 S/N 2 500Hz 20 30Hz 33Hz 3Hz HAL (1) = f(emg 1, EMG 2,..., EMG N, ) (1) (1) f EMG Electromyogram Fig. 4 θ EMG3 EMG2 τ Estimated toeque EMG1 linear function Sibmoid function Fig. 4 ( 11) ) HAL 3 HAL 73
79 Torque[Nm], HAL HAL HAL HAL 3, HAL human HAL HAL ˆ human G assist HAL (2) HAL = ˆ human G assist (2) HAL human + HAL Fig. 5 12) 腿 直 近 腿 頭 筋 内 側 広 筋 半 腱 様 筋 Fig. 5 ( 12) ) HAL Fig. 6 HAL Fig. 7 Fig. 7 HAL 11) 40 Estimate human torque Time[sec] Fig. 6 :HAL ( 11) ) 74
80 Torque[Nm] 40 Human and HAL torque Estimate human torque HAL output torque Time[sec] Fig. 7 :HAL ( 11) ) 3.2 HAL HAL HAL Fig. 8 From Power Supply To A/D Metalic Plate Strain Gauge Circuit Box for Converting Force to Voltage Fig. 8 ( 11) ) HAL HAL 13) HAL 6) Fig. 9 Fig. 9 W LR S S HAL S Fig. 9 14) Left-stance area Double-stance area Right-stance area WLR -1 -S 0 S 1 Fig. 9 ( 14) ) 75
81 4 HAL HAL 15) 14) HAL Fig. 10 HAL HAL Wearer's leg Fframe Fframe Shoe Stabilizer Force sensor Without the stabilizer With the stabilizer Fig. 10 HAL( 14) ) Fig. 11 HAL HAL HAL 5 Fig. 11 ( 14) ) 76
82 Bioelectrical signal [ V] Fig. 11 HAL HAL Fig. 11 HAL Fig. 11 Time[s]:2,6,10 Fig Envelope of the bioelectrical signal Base line Bioelectrical signal [ V] Envelope of the bioelectrical signal Base line Bioelectrical signal [ V] Envelope of the bioelectrical signal Time [s] Fig. 12 ( 14) ) Fig µV Fig. 13 HAL HAL 14) HAL 10) 77
83 4 Left Bioelectrical signal [ V] 2 threshold Right Bioelectrical signal [ V] involuntary 0 1 Left/Right Load Ratio 0 right left S -S -1 Double-stance Assist Phase Left Right Swing Single-stance Single-stance Swing Fig. 13 ( 14) ) 5 HAL HAL ) 6 HAL HAL 1),,.., Vol. 79, No. 806, pp , ),,,. HAL.. C, Vol. 76, No. 762, pp , ) pdf,
84 4),,. HAL (,, ).. C, Vol. 76, No. 772, pp , )., 3, p. 768., ),,,. 915 HAL-1 ( : ). : Ibaraki district conference, Vol. 2000, pp , ). 8). wakayama-u.ac.jp/~eyagi/roboticslab/. 9) Berkeley Robotics & Human Engineering Laboratory. edu/. 10). HAL,., Vol. 60, pp , ). HAL /Nakai_2001.pdf, ) W. Kapit and L.M. Elson., 3, p. 69., ). :., Vol. 27, No. 4, pp , ) T. HAYASHI, K. IWATSUKI, and Y. SANKAI. Intention estimation and walking assistance for severe paraplegic patients having difficulty in controlling neuromuscular activity. TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGI- NEERS Series C, Vol. 77, No. 774, pp , ).., Vol. 8, pp. 1 11, ) CYBERDYNE. 79
Abstract Bitcoin P2P (Pear To Pear)
Bitcoin 2014 4 19 IS Report No. 2014041902 Report Medical Information System Labratry Abstract Bitcoin P2P (Pear To Pear) 1............................ 2 2 Bitcoin.......................... 3 3 Bitcoin........................
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1 1 1 2 DCRA 1. 1.1 1) 1 Tactile Interface with Air Jets for Floating Images Aya Higuchi, 1 Nomin, 1 Sandor Markon 1 and Satoshi Maekawa 2 The new optical device DCRA can display floating images in free
23 Fig. 2: hwmodulev2 3. Reconfigurable HPC 3.1 hw/sw hw/sw hw/sw FPGA PC FPGA PC FPGA HPC FPGA FPGA hw/sw hw/sw hw- Module FPGA hwmodule hw/sw FPGA h
23 FPGA CUDA Performance Comparison of FPGA Array with CUDA on Poisson Equation (lijiang@sekine-lab.ei.tuat.ac.jp), (kazuki@sekine-lab.ei.tuat.ac.jp), (takahashi@sekine-lab.ei.tuat.ac.jp), (tamukoh@cc.tuat.ac.jp),
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GPGPU 2013 1008 2015 1 23 Abstract In recent years, with the advance of microscope technology, the alive cells have been able to observe. On the other hand, from the standpoint of image processing, the
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