The Gomi legacy

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The TAO Project: Intelligent wheelchairs for the handicapped

Abstract An R&D project to build a series of intelligent autonomous wheelchairs is discussed. A standardized autonomy management system that can be installed on commercially available well-engineered power chairs has been developed and tested. A behavior-based approach was used to establish sufficient on-board autonomy at minimal cost and material usage, while achieving high efficiency, maximum safety, Iransparency in appearance, and extendability. So far, the add-on system has been installed and tried on two power wheelchair models. Initial results are highly encouraging. Introduction In recent years, with the concept of applying robots to service tasks [Gomi, 92] and with the accelerated rate of aging of the population being reported in many post-industrial countries, demand for more robotic assistive systems for people with physical ailments or loss of mental control is expected to increase. This is a seemingly major application area of service robots in the near future. For the past five years, we have been developing a range of autonomous mobile robots and their software using the behavior-based approach [Brooks, 86] [Gomi, 96a]. In Cartesian robotics, on which most conventional intelligent robotics approaches are based, planning for the generation of motion sequence and calculation of kinematics and dynamics for each planned motion occupy the center of both theoretical interest and practice. By adopting a behavior-based approach, I felt, wheelchairs which can operate daily in complex real-world environments with increased performance in efficiency, safety, and flexibility, and greatly reduced computational requirements can be built at less cost. In addition, improvements in the robustness and graceful degradation characteristics were expected. In the summer of 1995, an autonomy management system for a commercially available Canadian-made power wheelchair was successfully designed and implemented. The system looks after both longitudinal (forward and backward) and angular (left and right) movements of the chair as well limited vocal interactions with the user. The results were exhibited in August 1995 at the Intelligent Wheelchair Even

Fissured Languages of Empire: Gender, Ethnicity, and Literature in Japan and Korea, 1930s-1950s

This dissertation investigates how Japanese-language literature by Korean writers both emerged out of and stood in opposition to discourses of national language, literature, and identity. The project is twofold in nature. First, I examine the rise of Japanese-language literature by Korean colonial subjects in the late 1930s and early 1940s, reassessing the sociopolitical factors involved in the production and consumption of these texts. Second, I trace how postwar reconstructions of ethnic nationality gave rise to the specific genre of zainichi (lit. "residing in Japan") literature. By situating these two valences together, I attempt to highlight the continuities among the established fields of colonial-period literature, modern Japanese literature, and modern Korean literature. Included in my analyses is a consideration of literature written by Japanese writers in Korea, transnational media and publishing culture in East Asia, the gender politics of national language, and the ways in which kominka (imperialization) policies were neither limited to the colonized alone nor completely erased after 1945. Rather than view the boundaries between "Japanese" and "Korean" literature as fixed or self-evident, this study examines the historical construction of these categories as generative discourses embedded in specific social, material, and political conditions. I do this through close analytical readings of a wide variety of primary texts written in Japanese by both Korean and Japanese writers, while contextualizing these readings in relation to the materiality of the literary journal. I also include a consideration of the canonization process over time, and the role literary criticism has played in actively shaping national canons. Chapter 1 centers around the 1940s "Korean boom," a term that refers to the marked rise in Japanese-language works published in the metropole on Korea and its culture, written by Japanese and Korean authors alike. Through broad intertextual analyses of major Japanese literary journals and influential texts by Korean writers produced during the "Korean boom," I examine the role played by the Japanese publishing industry in promoting the inclusion of Koreans in the empire while simultaneously excluding them from the privileged space of the nation. I also deconstruct the myth of a single "Korean" people, and consider how an individual's position within the uneven playing field of colonialism may shift according to gender and class. Chapter 2 deals with the ideologies of kokugo (national language; here, Japanese) and kokumin bungaku (national literature) during the latter years of Japan's imperial rule. The major texts I introduce in this chapter include Obi Juzo's "Tohan" (Ascent, 1944), first printed in the Japanese-language journal Kokumin bungaku based in Keijo (present-day Seoul); a comparison of the kominka essays written by Yi Kwangsu in Korean and Japanese; and the short story "Aikoku kodomo tai" (Patriotic Children's Squad, 1941), written by a Korean schoolgirl named Yi Chongnae. Through these texts, I show how kokumin bungaku depended upon the inclusion of colonial writers but simultaneously denied them an autonomy outside the strictures of the Japanese language, or kokugo. In Chapter 3, I move to Occupation-period Japan and the writings of Kim Talsu, Miyamoto Yuriko, and Nakano Shigeharu. While Koreans celebrated Japan's defeat as a day of independence from colonial rule, the political status of Koreans in Korea and in Japan remained far from independent under Allied policy. I outline the complicated factors that led to the creation of a stateless Korean diaspora in Japan and highlight the responses of Korean and Japanese writers who saw these political conditions as a sign of an imperialist system still insidiously intact. In looking at Kim Talsu's fiction in particular, I am able to examine both the continuities and discontinuities in definitions of national language, literature, and ethnicity that occurred across 1945 and map out the evolving position of Koreans in Japan. Chapter 4 compares the collaboration debates that occurred in post-1945 Korea with the arguments over war responsibility that occurred in Japan in the same period, focusing on the writings of Chang Hyokchu and Tanaka Hidemitsu. Although the works of both individuals have been neglected in contemporary literary scholarship, I argue that their postwar writings reveal how Korean collaboration (ch'inilp'a) and Japanese war responsibility (senso sekinin) emerged as mutually constitutive discourses that embodied - rather than healed - the traumas of colonialism and empire. Finally, in the epilogue of this dissertation, I introduce the writings of the self-identified zainichi author Yi Yangji in order to consider how all of the historical developments outlined in the previous chapters still exist as lived realities for many zainichi Koreans even today

Behavioural robustness and the distributed mechanisms hypothesis

A current challenge in neuroscience and systems biology is to better understand properties that allow organisms to exhibit and sustain appropriate behaviours despite the effects of perturbations (behavioural robustness). There are still significant theoretical difficulties in this endeavour, mainly due to the context-dependent nature of the problem. Biological robustness, in general, is considered in the literature as a property that emerges from the internal structure of organisms, rather than being a dynamical phenomenon involving agent-internal controls, the organism body, and the environment. Our hypothesis is that the capacity for behavioural robustness is rooted in dynamical processes that are distributed between agent ‘brain’, body, and environment, rather than warranted exclusively by organisms’ internal mechanisms. Distribution is operationally defined here based on perturbation analyses. Evolutionary Robotics (ER) techniques are used here to construct four computational models to study behavioural robustness from a systemic perspective. Dynamical systems theory provides the conceptual framework for these investigations. The first model evolves situated agents in a goalseeking scenario in the presence of neural noise perturbations. Results suggest that evolution implicitly selects neural systems that are noise-resistant during coupling behaviour by concentrating search in regions of the fitness landscape that retain functionality for goal approaching. The second model evolves situated, dynamically limited agents exhibiting minimalcognitive behaviour (categorization task). Results indicate a small but significant tendency toward better performance under most types of perturbations by agents showing further cognitivebehavioural dependency on their environments. The third model evolves experience-dependent robust behaviour in embodied, one-legged walking agents. Evidence suggests that robustness is rooted in both internal and external dynamics, but robust motion emerges always from the systemin-coupling. The fourth model implements a historically dependent, mobile-object tracking task under sensorimotor perturbations. Results indicate two different modes of distribution, one in which inner controls necessarily depend on a set of specific environmental factors to exhibit behaviour, then these controls will be more vulnerable to perturbations on that set, and another for which these factors are equally sufficient for behaviours. Vulnerability to perturbations depends on the particular distribution. In contrast to most existing approaches to the study of robustness, this thesis argues that behavioural robustness is better understood in the context of agent-environment dynamical couplings, not in terms of internal mechanisms. Such couplings, however, are not always the full determinants of robustness. Challenges and limitations of our approach are also identified for future studies

Adaptive networks for robotics and the emergence of reward anticipatory circuits

Currently the central challenge facing evolutionary robotics is to determine how best to extend the range and complexity of behaviour supported by evolved neural systems. Implicit in the work described in this thesis is the idea that this might best be achieved through devising neural circuits (tractable to evolutionary exploration) that exhibit complementary functional characteristics. We concentrate on two problem domains; locomotion and sequence learning. For locomotion we compare the use of GasNets and other adaptive networks. For sequence learning we introduce a novel connectionist model inspired by the role of dopamine in the basal ganglia (commonly interpreted as a form of reinforcement learning). This connectionist approach relies upon a new neuron model inspired by notions of energy efficient signalling. Two reward adaptive circuit variants were investigated. These were applied respectively to two learning problems; where action sequences are required to take place in a strict order, and secondly, where action sequences are robust to intermediate arbitrary states. We conclude the thesis by proposing a formal model of functional integration, encompassing locomotion and sequence learning, extending ideas proposed by W. Ross Ashby. A general model of the adaptive replicator is presented, incoporating subsystems that are tuned to continuous variation and discrete or conditional events. Comparisons are made with Ross W. Ashby's model of ultrastability and his ideas on adaptive behaviour. This model is intended to support our assertion that, GasNets (and similar networks) and reward adaptive circuits of the type presented here, are intrinsically complementary. In conclusion we present some ideas on how the co-evolution of GasNet and reward adaptive circuits might lead us to significant improvements in the synthesis of agents capable of exhibiting complex adaptive behaviour

Neuronal oscillations, information dynamics, and behaviour: an evolutionary robotics study

Oscillatory neural activity is closely related to cognition and behaviour, with synchronisation mechanisms playing a key role in the integration and functional organization of different cortical areas. Nevertheless, its informational content and relationship with behaviour - and hence cognition - are still to be fully understood. This thesis is concerned with better understanding the role of neuronal oscillations and information dynamics towards the generation of embodied cognitive behaviours and with investigating the efficacy of such systems as practical robot controllers. To this end, we develop a novel model based on the Kuramoto model of coupled phase oscillators and perform three minimally cognitive evolutionary robotics experiments. The analyses focus both on a behavioural level description, investigating the robot’s trajectories, and on a mechanism level description, exploring the variables’ dynamics and the information transfer properties within and between the agent’s body and the environment. The first experiment demonstrates that in an active categorical perception task under normal and inverted vision, networks with a definite, but not too strong, propensity for synchronisation are more able to reconfigure, to organise themselves functionally, and to adapt to different behavioural conditions. The second experiment relates assembly constitution and phase reorganisation dynamics to performance in supervised and unsupervised learning tasks. We demonstrate that assembly dynamics facilitate the evolutionary process, can account for varying degrees of stimuli modulation of the sensorimotor interactions, and can contribute to solving different tasks leaving aside other plasticity mechanisms. The third experiment explores an associative learning task considering a more realistic connectivity pattern between neurons. We demonstrate that networks with travelling waves as a default solution perform poorly compared to networks that are normally synchronised in the absence of stimuli. Overall, this thesis shows that neural synchronisation dynamics, when suitably flexible and reconfigurable, produce an asymmetric flow of information and can generate minimally cognitive embodied behaviours

Transnational Japan in the Global Environmental Movement

What motivates people to become involved in issues and struggles beyond their own borders? How are activists changed and movements transformed when they reach out to others a world away? This adept study addresses these questions by tying together local, national, regional, and global historical narratives surrounding the contemporary Japanese environmental movement. Spanning the era of Japanese industrial pollution in the 1960s and the more recent rise of movements addressing global environmental problems, it shows how Japanese activists influenced approaches to environmentalism and industrial pollution in the Asia-Pacific region, North America, and Europe, as well as landmark United Nations conferences in 1972 and 1992. Japan’s experiences with diseases caused by industrial pollution produced a potent “environmental injustice paradigm” that fueled domestic protest and became the motivation for Japanese groups’ activism abroad. From the late 1960s onward Japanese activists organized transnational movements addressing mercury contamination in Europe and North America, industrial pollution throughout East Asia, radioactive waste disposal in the Pacific, and global climate change. In all cases, they advocated strongly for the rights of pollution victims and people living in marginalized communities and nations—a position that often put them at odds with those advocating for the global environment over local or national rights. Transnational involvement profoundly challenged Japanese groups’ understanding of and approach to activism. Numerous case studies demonstrate how border-crossing efforts undermined deeply engrained notions of victimhood in the domestic movement and nurtured a more self-reflexive and multidimensional approach to environmental problems and social activism. Transnational Japan in the Global Environmental Movement will appeal to scholars and students interested in the development of civil society, social movements, and environmentalism in contemporary Japan; grassroots inter-Asian connections in the postwar period; and the ways Asian countries and their citizens have shaped and been influenced by global issues like environmentalism.Knowledge Unlatche

Transnational Japan in the Global Environmental Movement

What motivates people to become involved in issues and struggles beyond their own borders? How are activists changed and movements transformed when they reach out to others a world away? This adept study addresses these questions by tying together local, national, regional, and global historical narratives surrounding the contemporary Japanese environmental movement. Spanning the era of Japanese industrial pollution in the 1960s and the more recent rise of movements addressing global environmental problems, it shows how Japanese activists influenced approaches to environmentalism and industrial pollution in the Asia-Pacific region, North America, and Europe, as well as landmark United Nations conferences in 1972 and 1992. Transnational Japan in the Global Environmental Movement will appeal to scholars and students interested in the development of civil society, social movements, and environmentalism in contemporary Japan; grassroots inter-Asian connections in the postwar period