I the restoration work from disasters, the remote control of construction machine is required to ensure the worker's safety. However, conventional remote-controlled construction machine is larger than ordinary ones and limited in types and numbers, so there is a problem that the transportation to the destructed sites takes time and is troublesome.We have been developing the pneumatic humanoid type robot arm, which can be installed in any models of construction machine. In consideration of portability, the lightweight fiber knitted type pneumatic artificial rubber muscle (PARM) was adopted as the actuator.In this paper, we developed the static and dynamic characteristic models of the PARM taking the effect of elasticity of rubber and frictional force into consideration. Then we realized the remote control of the construction machine using the pneumatic robot that has 6 degree of freedom using the PARM. Moreover, we did some experiments on the remote control of the construction machine. Experimental results show that the developed system is available in remote control of a construction machine.

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5-Methyl-2-oxo-l,3-dioxol-4-yl)methyl 7-1 D-0-(L-alanyl) [B-l4C]mandelamido]-3-[ [ (5-methyl-l,3 ,4-thiadiazol-2-yl) thio ]methyl]-3-cephem-4carboxylate (14C-KY-1 09) and its parent drug (1h-KY-087) were synthesized from D-(-)-mandelic-&lh acid prepared by optical resolution of DL-(2)-mandeli~-B-'~C acid. KY-087 and 49.6% for '4C-Icp-109, based on D-(-)-mandelic-f3-l4C acid. Both the products had radiochemical purities greater than 97% as measured by TLC. The overall radiochemical yields were 16.2% f o r 14C-Key Words: (5-methyl-2-oxo-l,3-dioxol-4-yl )methyl 7-[D-O-(L-alanyl) [ B-' 4C]mandelamido 1-3-[ [ (5-methyl-l,3,4-thiadiazol-2-yl) thio ]methyl]-3-cephem-4carboxylate, 7-(D-[ B-14Clmandelamido)-3-[ [ (5-methyl-l,3,4-thiadiazol-2-y1)thiol methyl 1-3-cephem-4-carboxylic acid, [ 4C ]cephalosporin analogue.

Biochemistry Z 0250 Synthesis and Properties of Oligonucleotides Incorporating Modified Nucleobases Capable of Watson-Crick-Type Base-Pair Formation -[106 refs.]. -(SEKINE, M.; OHKUBO, A.; OKAMOTO, I.; SEIO, K.; Modif. Nucleosides 2008, 153-171; Dep. Life Sci., Tokyo Inst. Technol., Midori, Yokohama 226, Japan; Eng.) -Meier 36-275