With the aim to utilize human mesenchymal stem cells (hMSCs) grown in large scale for regenerative medicine, effects of agitation rate on aggregation during beads-to-beads subcultivation of microcarrier culture of hMSCs were studied. hMSCs could attach and grew on surface-type microcarriers of Cytodex 1, whereas almost no cell elongation and growth were observed on porous type microcarriers of Cytopores. The percentages of aggregated Cytodex 1 microcarriers at an agitation rate of 60 and 90 rpm were lower than that at 30 rpm, which was the lowest agitation rate necessary for the suspension of Cytodex 1 microcarriers, and the cells grew fastest at 60 rpm. hMSC could be subcultivated on Cytodex 1 by the beads-to-beads method at both 30 and 60 rpm without trypsinization. However, agitation at 60 rpm resulted in a markedly lower percentage of aggregated microcarriers not only before but also after subcultivation. The percentages of CD90- and CD166-positive cells among cells grown on Cytodex 1 at 60 rpm (91.5 and 87.6 %) were comparable to those of cells grown in the pre-culture on dishes. In conclusion, hMSCs could be subcultivated on Cytodex 1 by beads-to-beads method maintaining the expressions of the cell surface antigens CD90 and CD166, while adjusting agitation rate could decrease the microcarrier aggregation.

Th.is paper deals ,with the image-based simultaneous motion con,trol of robot-arms mounting cameras and target objects. Given a goal image, the control achieves to move lihe robots to the position where the given goal images were taken and, at the same time, target objects to the same positions as they were in the goal images. Their motions are determined to reduce the difference between the goal images and the images taken at their curren,t positions. We use the "eigen-space method" to obtain compact representations of the images. To relate th,e image diflerences to the robot-arm and target object motions, we re-arrange the eigen space so that the representations and their m,otions become linearly dependent. Experim.ents tocontrol real robots ruhere a robot and a object motions and as well as two robots with two cameras and a object motions simultaneously are shown with good perform.ances.

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