生物模倣ソフト魚ロボットの研究開発

In nature, the environment varies from day to day. Through natural selection and competition law of survival of the fittest, the winning creatures survive and their species are able to retain and persist in nature. Based on this fact, creatures existent in nature have their unique features and advantages adapt to the surrounding environment. In recent years, many researches focused on the features of the creatures in nature have been done actively to clarify their morphology and functions and apply the morphology and functions to various fields. Among these researches, the development of the biomimetic robots based on mimicking the creature’s structures and functions has become an active field in robotics recently. In the research, the development of biomimetic robotic fish is focused. So far, there are many researches on biomimetic robotic fish, but improvement on motion performances and efficiency is still an important issue for robot development. Specially, on the biomimetic soft robotic fish utilizing the flexibility of fishes, the developments have been done by the trial and error approach. That is, the design and control method of soft robotic fish has not been established currently. Therefore, it motives us to investigate the design and control of soft robotic fish by numerical simulation that takes into account the interaction between flexible structure and surrounding fluid to develop the biomimetic soft robotic fish with high performance. In order to develop the biomimetic soft robotic fish with high performance, the basic design method and corresponding numerical simulation system are firstly proposed and constructed in this dissertation. Then, based on finite element method (FEM), modelling of soft robotic fish by mimicking the soft structure and driving mechanism of fishes is carried out. The propulsion motion and propulsive force of the soft robotic fish are investigated through two kinds of numerical analyses. One is the modal and transient analysis considering the surrounding fluid as acoustic fluid. The propulsion mode and amplitude of the propulsion motion of soft robotic fish corresponding directly to the propulsion mechanism and motion performance of the robotic fish can be investigated. The other is the fluid-structure interaction (FSI) analysis. The interaction between soft robot structure and surrounding fluid including the dissipation due to fluid viscosity and influence of wake performance around the soft robotic fish are taken into account. From FSI analysis, the hydrodynamic performances of the soft robotic fish can be obtained for investigating its propulsion motion. It is possible to further improve the performance of the soft robotic fish through its design and control based on FSI analysis. Besides, based on coupling analysis by using acoustic fluid, the turning motion control of the soft robotic fish is investigated by its propulsion modes in the fluid. In order to investigate the feasibility of modelling method and numerical simulation analysis on design and control of the biomimetic soft robotic fish, the performance evaluation is carried out by comparison between the simulation and experiment on an actual prototype. Finally, the optimization and improvement are performed for developing the biomimetic soft robotic fish with higher performance based on verified coupling analysis considering the fluid as acoustic fluid, and corresponding performance evaluation on new robot prototype is presented. The performance improvement of the soft robotic fish is confirmed through the new robot prototype. The dissertation consists of six chapters and the main contents are shown as follows. Chapter 1 is an introduction. The background and relative previous work about biomimetic soft robotic fish are briefly reviewed. It summarizes the current research status and problems of biomimetic soft robotic fish, and describes the purposes of this research. Chapter 2 presents the design method, procedures and numerical simulation system in the present research for developing the biomimetic soft robotic fish with high performance. Different from previous development method, our purpose is how to design and control the soft robotic fish by utilizing interaction between the flexible structure and surrounding fluid effectively based on numerical simulations. Therefore, it is necessary to model a fish-like soft robot structure including soft actuators and an enclosed fluid. Besides, by the numerical analysis considering the interaction between flexible structure and fluid, the fish-like propulsion motion should be realized and established, and then the robot structure and control inputs are needed to be optimized for performance improvement. In order to meet these requirements of designing and developing the optimal soft robotic fish, the design method based on modelling, simulation analysis and improvement is presented and the numerical simulation system for soft robotic fish is built. In the simulation system, modelling of soft robotic fish, modal and transient analysis considering the enclosed fluid as acoustic fluid are firstly described based on FEM to realize the fish-like propulsion motion with large amplitude for the soft robotic fish. Then, the FSI analysis is performed to describe and establish the hydrodynamic performances of the soft robotic fish. Based on this numerical simulation system, it is possible to develop the biomimetic soft robotic fish with high performance effectively by optimization of design and control of the soft robotic fish. Chapter 3 describes the modelling and numerical analysis of biomimetic soft robotic fish by using the method presented in Chapter 2. The soft robotic fish uses the piezoelectric fiber composite (PFC) as soft actuator. Firstly, the relationships between the input voltage and generated stress of the PFC are derived. The generated stress can be applied on soft structure to investigate the motion performance of the soft robotic fish. To support the driving model of the PFC, the corresponding experiments on simple beam model are carried out. By comparing the simulation results with experimental results, the effectiveness of the driving model is verified. Then, the modal analysis in which the fluid is considered as acoustic fluid is performed. The structural mode frequencies and mode shapes of the soft robotic fish in the fluid are calculated. By comparing these modes’ motion with those of the real fishes, the fish-like propulsion mode is identified to realize the corresponding propulsion motion of the soft robotic fish. Furthermore, based on the verified driving model of soft actuator, the amplitude of the main propulsion motion of soft robotic fish is calculated. Through FSI analysis, the relationships of driving frequencies of input signal with propulsive force and displacement of propulsion motion, and vortex distribution in the wake around the soft robotic fish are investigated for the case of fixing robot head. Besides, the motion control of soft robot is investigated to realize turning motion in the fluid. Through controlling the input voltage amplitude on soft actuators of the robot, turning right and turning left motion are identified in the swimming when the input voltage amplitudes on two actuators are in asymmetric distribution. Chapter 4 is experiment evaluation. In order to validate the results of numerical simulation analysis described in Chapter 3, the mode shapes, amplitude of propulsion motion, propulsive force and vortex distribution around soft robotic fish for the case of fixing robot head, and turning motion are measured by using actual robot prototype. The present simulation results are congruent with experiments. By the results, the effectiveness of the modelling method and numerical analysis used in the research is verified and they are useful to predict the propulsion characteristics of the soft robotic fish in the fluid for performance improvement. Chapter 5 develops a new soft robotic fish with high performance based on above modelling method and numerical analysis by optimization. Firstly, the structural parameters of the robot are allowed to vary within a range and the amplitude of the propulsion motion for the soft robot is calculated for different parameters by the numerical analysis. Then the structural parameters of the robot capable of propulsion motion with largeramplitude are chosen for improvement. Based on this result, new soft robot is designed and evaluated by experiments. From the experimental results of the new soft robot, it is confirmed that the higher swimming speed, better fish-like swimming performance and larger turning velocity are realized. It can be said that the new soft robotic fish has been developed successfully for improvement. Chapter 6 summarizes the conclusions and future works of this research.電気通信大学201

Channel Estimation for Ambient Backscatter Communication Systems with Massive-Antenna Reader

Ambient backscatter, an emerging green communication technology, has aroused great interest from both academia and industry. One open problem for ambient backscatter communication (AmBC) systems is channel estimation for a massive-antenna reader. In this paper, we focus on channel estimation problem in AmBC systems with uniform linear array (ULA) at the reader which consists of large number of antennas. We first design a two-step method to jointly estimate channel gains and direction of arrivals (DoAs), and then refine the estimates through angular rotation. Additionally, Cramer-Rao lower bounds (CRLBs) are derived for both the modulus of the channel gain and the DoA estimates. Simulations are then provided to validate the analysis, and to show the efficiency of the proposed approach.Comment: 5 figures, submitted to IEEE Transactions on Vehicular Technology, 29 March, 201

Modeling Temporal Pattern and Event Detection using Hidden Markov Model with Application to a Sludge Bulking Data

This paper discusses a method of modeling temporal pattern and event detection based on Hidden Markov Model (HMM) for a continuous time series data. We also provide methods for checking model adequacy and predicting future events. These methods are applied to a real example of sludge bulking data for detecting sludge bulking for a water plant in Chicago

Utilizing Import Vector Machines to Identify Dangerous Pro-active Traffic Conditions

Traffic accidents have been a severe issue in metropolises with the development of traffic flow. This paper explores the theory and application of a recently developed machine learning technique, namely Import Vector Machines (IVMs), in real-time crash risk analysis, which is a hot topic to reduce traffic accidents. Historical crash data and corresponding traffic data from Shanghai Urban Expressway System were employed and matched. Traffic conditions are labelled as dangerous (i.e. probably leading to a crash) and safe (i.e. a normal traffic condition) based on 5-minute measurements of average speed, volume and occupancy. The IVM algorithm is trained to build the classifier and its performance is compared to the popular and successfully applied technique of Support Vector Machines (SVMs). The main findings indicate that IVMs could successfully be employed in real-time identification of dangerous pro-active traffic conditions. Furthermore, similar to the "support points" of the SVM, the IVM model uses only a fraction of the training data to index kernel basis functions, typically a much smaller fraction than the SVM, and its classification rates are similar to those of SVMs. This gives the IVM a computational advantage over the SVM, especially when the size of the training data set is large.Comment: 6 pages, 3 figures, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC

Counterfactual time series analysis for the air pollution during the outbreak of COVID-19 in Wuhan

Environmental issues are becoming one of the main topics of concern for society, and the quality of air is closely linked to people's lives. Previous studies have examined the effects of abrupt interventions on changes in air pollution. For example, researchers used an interrupted time series design to quantify the impact of the 1990 Dublin coal ban; and a regression discontinuity to determine the arbitrary spatial impact of the Huaihe River policy in China. An important feature of each of these studies is that they investigated abrupt and localized changes over relatively short time spans (the Dublin coal ban) and spatial scales (the Huaihe policy). Due to the abrupt nature of these interventions, defining a hypothetical experiment in these studies is straightforward. In response to the novel coronavirus outbreak, China implemented 'the largest quarantine in human history' in Wuhan on January 23, 2020. Similar measures were implemented in other Chinese cities. Since then, the movement of people and associated production and consumption activities have been significantly reduced. This provides us with an unprecedented opportunity to estimate the changes in air pollution brought about by this sudden "silent" move. We speculate that the initiative will lead to a significant reduction in regional air pollution. Thus, we performed counterfactual time series analysis on Wuhan air quality data from 2017-2022 based on three models, SARIMA, LSTM and XGBOOST, and compared the excellence of different models. Finally, we conclude that 'silent' measures will significantly reduce air pollution. Using this conclusion to further investigate the extent of air pollution reduction will help the country to better designate environmental policies.Comment: 9 pages, 8 figure

Le jeu du « je » : l’écriture poétique dans L’âge d’homme de Michel Leiris

Dans cet article, nous proposons d’examiner, à partir d’une série d’exemples concrets, les traits poétiques de L’âge d’homme de Michel Leiris, en s’interrogeant sur le fonctionnement de la mise en scène du « je » dans son expérimentation autobiographique. En rejetant le modèle classique de l’autobiographie, l’auteur place l’histoire de sa personnalité dans un cadre constitué d’images récurrentes où s’entremêlent des jeux sur le lexique, des liaisons  analogiques et des associations apparemment arbitraires. Dans l’intention de se liquider, il repousse les limites du langage conventionnel et exploite une dimension lyrique au sein de son ouvrage narratif, en effectuant, dans le même processus, la constitution de sa genèse

The Arabidopsis NLP7 gene regulates nitrate signaling via NRT1.1-dependent pathway in the presence of ammonium.

Nitrate is not only an important nutrient but also a signaling molecule for plants. A few of key molecular components involved in primary nitrate responses have been identified mainly by forward and reverse genetics as well as systems biology, however, many underlining mechanisms of nitrate regulation remain unclear. In this study, we show that the expression of NRT1.1, which encodes a nitrate sensor and transporter (also known as CHL1 and NPF6.3), is modulated by NIN-like protein 7 (NLP7). Genetic and molecular analyses indicate that NLP7 works upstream of NRT1.1 in nitrate regulation when NH4+ is present, while in absence of NH4+, it functions in nitrate signaling independently of NRT1.1. Ectopic expression of NRT1.1 in nlp7 resulted in partial or complete restoration of nitrate signaling (expression from nitrate-regulated promoter NRP), nitrate content and nitrate reductase activity in the transgenic lines. Transcriptome analysis revealed that four nitrogen-related clusters including amino acid synthesis-related genes and members of NRT1/PTR family were modulated by both NLP7 and NRT1.1. In addition, ChIP and EMSA assays results indicated that NLP7 may bind to specific regions of the NRT1.1 promoter. Thus, NLP7 acts as an important factor in nitrate signaling via regulating NRT1.1 under NH4+ conditions