In this paper, we consider an optimization of grasping by using a required external force set. By using the set, we can not only deal with whatever a desired grasp is, such as force closure or equilibrium grasp, but also evaluate the magnitudes of the resistible external forces and moments. Then, we define an optimization problem from the viewpoint of decreasing the magnitudes of the contact forces required to resist the required external force, and show that we can solve the problem by using a branch-and-bound method. Lastly we present some numerical simulations to show the validity of our approach.

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Carboxydotrophic anaerobic thermophiles have been isolated from various hydrothermal environments and are considered to be important carbon monoxide (CO) scavengers or primary producers. However, the ecological factors that influence the distribution, abundance and CO-oxidizing activities of these bacteria are poorly understood. A previous study detected the carboxydotrophic bacteria Carboxydothermus spp. in a hot spring sample and found that they constituted up to 10% of the total bacterial cells. In this study, we investigated environmental features, potential microbial CO-oxidation activities and the abundance of Carboxydothermus spp. in various hot springs to determine environmental factors that affect CO oxidizers and to see whether Carboxydothermus spp. are common in these environments. We detected potential microbial CO-oxidation activities in samples that showed relatively high values of total organic carbon, total nitrogen, oxidation-reduction potential and soil-water content. The abundance of Carboxydothermus spp. did not correlate with the presence of potential microbial CO-oxidation activities; however, Carboxydothermus spp. were detected in a wide range of environments, suggesting that these bacteria are widely distributed in spite of the relatively low population size. This study implies that thermophilic CO oxidizers occur in a wide range of environments and oxidize CO in somewhat oxidative environments rich in organic matter.

A dynamic model of regrowth in Typha angustifolia after cutting shoots above the water surface was formulated by characterizing the phenology and mobilization of resources from below-ground to aboveground organs after the cutting. The model parameters were determined by two cutting experiments to investigate the different strategies with flowering and nonflowering shoots after cutting in 2001 and by four cutting experiments to elucidate the regrowth characteristics after cutting on different days from June to September in 2002. A difference was evident both for flowering and non-flowering shoots and for each cutting day. From June to August, non-flowering shoots regrew immediately after cutting, but flowering shoots did not. The shoot regrowth height, number of leaves and shoot biomass were higher with the earlier cutting. The model was validated using the below-ground biomass observed in December 2002 and below-ground dynamics observed in 2003. In the low-flowering shoot zone of the stands, in which the percentage of flowering shoots was small (around 10%), the decrease in below-ground biomass became larger from June (20%) to August (60%). Cutting the high-flowering shoot zone (flowering shoots: 78%) in July 2001, just 1 week after peduncle formation, decreased the below-ground biomass by about 50%. In the low-flowering shoot zone, cutting just before senescence is better for decreasing below-ground biomass with a smaller rate of flowering shoots. The difference of below-ground biomass reduction in non-flowering shoots is mainly due to the decrease in downward translocation (DWT) of above-ground material to below-ground organs during senescence, because of the decrease in regrowth biomass. As for flowering shoots, the decrease in the photosynthate transportation from above-ground to below-ground organs and that of DWT are closely related because they cannot grow again within the season.