• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.790-793
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• 1988

It has become clear that through the use of force/torque sensing many previously uneconomical or unsuccessful applications can now be performed successfully. The earlier-anticipated boom of robots dominating factory production has not yet occured. Many robot installations have not met the initial expectations of users or have failed completely, souring the prospects of future robotic applications. Yet the reason many of these earlier applications have failed is very basic, that is that the robot was expected to blindly perform a task perfectly in an imperfect environment. There must be an additional level of feedback so that the robot may adapt to these imperfections, thus ensuring the ultimate success of the application. This additional level of real-world sensing is provided by force/torque sensors and their continued use will ensure the eventual proliferation of factory robots.

• Parasites, Hosts and Diseases
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• v.37 no.3
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• pp.149-156
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• 1999

Pneumocystis carinii is pulmonary pathogen of immunocompromised humans or other mammals. Its infection results from activation of organism involves in latent infection or form new infection through the air. Almost all children are known to be infected within 2 to 4 years of birth, though prenatal transplacental transmission has not yet been demonstrated. In this study we observed experimental P.carinii infection in neonatal rats, thus investigating the possibility of transplacental vertical transmission by Diff-Quik staining of the lung impression smears and in-sity hybridization for lung sections. The postive rate of P.carinii infection in immunosuppressed maternal rats was 100%, but that in normal maternal rats was 0%. Cystic forms of P.carinii were observed in three of six 1-week old neonatal rats born of heavily infected mothers, but none of them was positive by in-situ hybridization. Five weeks after birth, cystic forms were detected in four neonatal rats. In the lobes of the lungs, no predilection site of P.carinii was recognized. Counts of cystic forms on smears and the reactivity of in-situ hbridization in the lungs of neonatal rats 0 were signficantly lower than in maternal rats. The present findings suggest that P.carinii is rarely transmitted through the placenta and proliferates less successfully in the lungs of neonatal rats than in mothers.