Uganda Episcopal Conference

O trabalho traz uma visão crítica ao sistema penitenciário brasileiro, considerando a evolução histórica da pena e o princípio da dignidade da pessoa humana, e demonstra que a privação da liberdade não é sinônimo de perda de direitos fundamentais. No Brasil cresce a população carcerária e permanecem sérias violações de direitos humanos, resultantes da superlotação, da precariedade estrutural e da omissão do Estado, o que inviabiliza a função ressocializadora da pena. A partir do movimento político, social e jurídico contemporâneo e da Constituição, afirma-se a configuração do Estado de Coisas Inconstitucional no sistema prisional, autorizando a atuação do Judiciário para garantir a salvaguarda dos direitos fundamentais das pessoas encarceradas.

The purpose of this study is to estimate the motion trajectory of an ultrasound probe using Visual SLAM technology，and to reproduce a doctor's probe scanning using a bed-type robotic ultrasound diagnosis system (RUDS)． We investigated a method to mimic the motion trajectory of the RUDS probe by using SLAM technology．The proposed method was able to perform the imitation motion，but the error became larger as the distance from the origin increased．

In recent years, Dielectric Elastomer Actuators (DEAs) are attracting attention as excellent artificial muscles. We have developed a driving module that has a large deformation capability by using DEAs. The driving module is in the shape of a tube and forms an antagonistic configuration through electrode pattern. We observed that the maximum bending angle was 24.9° and the generated force at maximum bending angle was 73.8 mN with the experimental results. We have developed an underwater robot using this driving module. The peak swimming speed of the robot was 43.7 mm/s (0.16 body length/s) at 1.5 Hz. From these results, the possibility of adapting the tubular driving module to the soft underwater robot was shown.

In this paper, we report a film with Au nanospiral structures to behave a circular dichroic filter in visible light region. Rotating Si while cooling to -100 degree Celsius and irradiation of the thermal vapor of Au from an angle of 85 degrees created nano-spiral structures with a diameter of about 100 nm on the Si. The fabricated spiral structure was transferred to PDMS (Poly-dimethylsiloxane) to form a film. The transmitted light was measured and it was found that it has strong circular dichroism in the visible light region. This characteristic can be applied as a circular polarizing filter or an anti reflection filter.

We verified the effectiveness of presentation method of the object plane information by electrotactile stimulation based on proximity sensor outputs. The proximity sensor is able to obtain distance and posture information between the sensor and the object at the area near the object, and mounted on a robot fingertip. If the proximity information is transmitted to the operator, it is useful for the operator to grasp the object in teleoperation robot. Especially, we focused on posture presentation in this paper, by which operator can make the robot fingertip confront the object. The experiment all results show the possibility that the proposed method enables the operator to adjust the grasping posture.

Firefly bioluminescent system is attracting widespread attention as an in vivo imaging tool. Recently, Near-InfraRed (NIR) light (650~1000 nm) is hot topic due to high living body permeability. Although many NIR fluorescence imaging tools are commercialy available, these are not self-luminescent. We study the relationship between structure modification and the firefly luminescence wavelength, that the luciferase of Photinus pyralis (Ppy) was used. And we have succeeded in development of Akalumine® which is a world's first near-infrared light in vivo imaging tool of bioluminescence. Akalumine® is employ in vivo imaging for mice. However, we wish Akalumine® is used much bigger animals like a marmoset, miniature pigs for in vivo imaging. Although Akalumine® is useful for in vivo imaging, it is not enough for big animal. We will give a suggestion for solving this problem. Luminescence of a firefly is two stepwise reactions. Luciferase convert luciferin into AMP-luciferin (intermediate) by adenylation reaction, andthen AMP-luciferin is converted into oxyluciferin by oxygenation reaction. It is known that emission efficiency increase 1000 fold by using the AMP-luciferin, instead of lucifein. So the emission efficiency of luciferin can be raised when AMP-luciferin is used. However, it is very unstable. Then, I will make elaborate AMP-luciferin analogs, and I try to clear practical problem by establishing structure-activity relationship of AMP-luciferin analogs. I will present the details of this result. Figure 1

This study develops self-reconfiguration modular robots using helical magnets. In this paper, we propose control method for stable movement, communication system among modules, and action decision rule to the self-reconfiguration with autonomous distributed system. The stable movement is realized by arrangement of helical magnets to increase binding force and propulsive force. The control system is realized by using hall sensors, full color LED and color sensors. The action decision to generate crawl motion is realized.

We have developed a sensor to detect position and posture of an object in a short-range, called a "proximity sensor". The proximity sensors are mounted on fingertips of a robot hand, and it is realized that the fingertip surface and an object surface face each other before contact in grasping process by the robot. We call such postural adjustment "preshaping". When grasping an object by a robot hand system with the combination of the proximity sensor and a visual sensor, the visual sensor has only to guide the robot hand so that the proximity sensor detects the object and pre-shaping is performed appropriately. In this paper, we investigate the information which the visual sensor should acquire to perform pre-shaping appropriately.

In our research group, we are developing a High-Speed High-Sensitivity Slip Sensor composed of a piece of pressure sensitive conductive rubber. It's useful for griping object in most suitable force. As the next step, We focus our research on how to deliver object on suitable timing. We propose a method to determine the suitable timing witch detects slip direction by a Netted-Structure circuit. This paper reports that we succeed in detecting the slip position and direction by the Netted-Structure.