京都大学 / 0048 / 新制・課程博士 / 博士(理学) / 甲第19481号 / 理博第4141号 / 新制||理||1595(附属図書館) / 32517 / 京都大学大学院理学研究科物理学・宇宙物理学専攻 / (主査)准教授 藤 定義, 教授 佐々 真一, 教授 早川 尚男 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DFAM

This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen. Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theoretical framework for bothbehaviour design and behaviour coordination. In the workpresented in this thesis, the approach has been used for thefirst time to construct a navigation system for realistic tasksin large-scale real-world environments. In particular, thecoordination scheme was exploited in order to combinecontinuous sensory signals and discrete events for decisionmaking processes. In addition, this coordination frameworkassures a continuous control signal at all times and permitsthe robot to deal with unexpected events. In order to act in the real world, the control system makesuse of representations of the environment. On the one hand,local geometrical representations parameterise the behaviours.On the other hand, context information and a predefined worldmodel enable the coordination scheme to switchbetweensubtasks. These representations constitute symbols, on thebasis of which the system makes decisions. These symbols mustbe anchored in the real world, requiring the capability ofrelating to sensory data. A general framework for theseanchoring processes in hybrid deliberative architectures isproposed. A distinction of anchoring on two different levels ofabstraction reduces the complexity of the problemsignificantly. A topological map was chosen as a world model. Through theadvanced behaviour coordination system and a proper choice ofrepresentations,the complexity of this map can be kept at aminimum. This allows the development of simple algorithms forautomatic map acquisition. When the robot is guided through theenvironment, it creates such a map of the area online. Theresulting map is precise enough for subsequent use innavigation. In addition, initial studies on navigation in human-robotinteraction tasks are presented. These kinds of tasks posedifferent constraints on a robotic system than, for example,delivery missions. It is shown that the methods developed inthis thesis can easily be applied to interactive navigation.Results show a personal robot maintaining formations with agroup of persons during social interaction. <b>Keywords:</b>mobile robots, robot navigation, indoornavigation, behaviour based robotics, hybrid deliberativesystems, dynamical systems approach, topological maps, symbolanchoring, autonomous mapping, human-robot interaction

<p>This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen.</p><p>Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theoretical framework for bothbehaviour design and behaviour coordination. In the workpresented in this thesis, the approach has been used for thefirst time to construct a navigation system for realistic tasksin large-scale real-world environments. In particular, thecoordination scheme was exploited in order to combinecontinuous sensory signals and discrete events for decisionmaking processes. In addition, this coordination frameworkassures a continuous control signal at all times and permitsthe robot to deal with unexpected events.</p><p>In order to act in the real world, the control system makesuse of representations of the environment. On the one hand,local geometrical representations parameterise the behaviours.On the other hand, context information and a predefined worldmodel enable the coordination scheme to switchbetweensubtasks. These representations constitute symbols, on thebasis of which the system makes decisions. These symbols mustbe anchored in the real world, requiring the capability ofrelating to sensory data. A general framework for theseanchoring processes in hybrid deliberative architectures isproposed. A distinction of anchoring on two different levels ofabstraction reduces the complexity of the problemsignificantly.</p><p>A topological map was chosen as a world model. Through theadvanced behaviour coordination system and a proper choice ofrepresentations,the complexity of this map can be kept at aminimum. This allows the development of simple algorithms forautomatic map acquisition. When the robot is guided through theenvironment, it creates such a map of the area online. Theresulting map is precise enough for subsequent use innavigation.</p><p>In addition, initial studies on navigation in human-robotinteraction tasks are presented. These kinds of tasks posedifferent constraints on a robotic system than, for example,delivery missions. It is shown that the methods developed inthis thesis can easily be applied to interactive navigation.Results show a personal robot maintaining formations with agroup of persons during social interaction.</p><p><b>Keywords:</b>mobile robots, robot navigation, indoornavigation, behaviour based robotics, hybrid deliberativesystems, dynamical systems approach, topological maps, symbolanchoring, autonomous mapping, human-robot interaction</p>

O Tiro com Arco é uma modalidade olímpica na qual os atletas exibem diversas estratégias de coordenação muscular na preparação do disparo da flecha, principalmente no período da liberação do clicker, tornando dificultosa a interpretação da coordenação de arqueiros no que tange à sua pontuação. Deste modo, algumas técnicas, como a Análise de Vetor Codificado e co-ativação/inibição recíproca, provenientes de abordagens de Controle Motor, podem ajudar-nos a desvendar quais parâmetros em comum que estes arqueiros utilizam quando atiram e sua relação com seu desempenho obtido durante o disparo sequencial de flechas. O objetivo do trabalho foi o de avaliar a coordenação muscular utilizada por arqueiros da seleção brasileira durante uma simulação qualificatória olímpica, através da técnica eletromiográfica. Participaram 11 arqueiros da seleção brasileira; idade: 25,2±4,9 anos, altura: 1,72±0,12m, peso: 68,6±11,8 kg, FITA score: 1258±43 pontos, Qualificação: 632±20 pontos, Flecha média: 8,7±0,3 pontos. A análise EMG foi dividida em 0,5s antes e 0,15s após a liberação do clicker. Foi utilizado o valor RMS deste sinal de doze músculos: no lado que traciona a corda (dominante) - FSD (Flexor Superficial dos dedos); ED (Extensor dos dedos); BBL (Bíceps Braquial); TBL (Tríceps Braquial Cabeça longa); GD (Grande Dorsal) PMC (Peitoral Maior Clavicular); TS (Trapézio Superior); SAD (Serrátil Anterior); RA (Reto Abdominal) e ML (Multífido Lombar). Lado não dominante (nD) DPnD (Deltóide Posterior); SAnD (Serrátil Anterior), no qual foram criados em 14 pares de análise (agonista-antagonista: FSD-ED; BBL-TBL; GD-PMC; TS-SAD; RA-ML; distal-proximal: FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; e mistos: PMC-SAD; GD-TS; SAD-SAnD; SAnD-DPnD; GD-DPnD), para a análise dentro das técnicas de Co-ativação/Inibição Reciproca e Análise de Vetor Codificado. Nos resultados; oito pares (FSD-ED; BBL-TBL; TS-SAD; FSD-BBL; FSD-TBL; ED-TBL; SAD-SAnD; SAnD-DPnD) co-ativaram diferentemente na transição de blocos (p<0.05); e 12 (FSD-ED; BBL-TBL; GD-PMC; TS-SAD; FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; PMC-SAD; SAD-SAnD; SAnD-DPnD; GD-DPnD) co-ativaram diferentemente na comparação do escore obtido (p<0.05). Em nove pares, os arqueiros, evidenciaram diferentes estratégias de inibição recíproca na transição de blocos (FSD-ED; BBL-TBL; TS-SAD; FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; SAD-SAnD; SAnD-DPnD) (p<0.05); um (TS-SAD) na análise de flechas (p<0.05); e nove (FSD-ED; BBL-TBL; FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; SAD-SAnD; SAnD-DPnD; GD-DPnD) na análise do escore. A análise de Vetor Codificado apresentou que, no total de flechas disparadas nove pares (FSD-ED; GD-PMC; FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; PMC-SAD; SAD-SAnD; SAnD-DPnD) mudaram a moda de fase de coordenação na transição de ajustes posturais, enquanto no desempenho 11 pares (FSD-ED; BBL-TBL; GD-PMC; TS-SAD; FSD-BBL; FSD-TBL; ED-BBL; ED-TBL; PMC-SAD; SAD-SAnD; SAnD-DPnD) evidenciaram tais mudanças. As técnicas apresentadas no presente estudo revelaram parâmetros em comum associados com as sequências temporais de disparo de flechas e com os escores obtidos por arqueiros de elite, isto corrobora com a complexidade da análise do desempenho em atletas de alto rendimento, contudo também colocam a disposição técnicas que ajudam na filtragem e verificação desses parâmetros outrora divergentes / Archery is an Olympic sport in which the athletes exhibit several muscular coordination patterns in the arrow shooting, mainly in the clicker falls tempo, making difficult the interpretation of the coordination of archers in what concerns to their score. Thus, some techniques, such as Vector Coding and co-activation/reciprocal inhibition, from Motor Control approaches, can help us to discover what common patterns these archers use when firing and their relation to their obtained performance during the sequential firing of arrows. Aim: evaluate the muscular coordination used by archers of the Brazilian team during an Olympic qualifying simulation, using the electromyographic technique. Eleven archers of the Brazilian team participated; age: 25.2 ± 4.9 years, height: 1.72 ± 0.12m, weight: 68.6 ± 11.8 kg, FITA score: 1258 ± 43 points, Qualification: 632 ± 20 points, Mean arrow: 8.7 ± 0.3 points. The EMG analysis was divided in 0.5s before and 0.15s after the release of the clicker. The RMS value of this twelve-muscle signal was used: drawning arm (dominant side) - FDS (Flexor Digitorum Superficilis); ED (Extensor Digitorum); BB (Biceps Brachii); TBL (Triceps Brachii - Long Head); LD (Latissimus Dorsi) PMC (Pectoralis Major Clavicular Head); UT (Upper Trapezius); ASD (Anterior Serratus); RA (Rectus Abdominis) and LM (Lumbar Multifidus). Non-dominant side (nD) DPnD (Posterior deltoid) and ASnD (Anterior Serratus non-dominant side); pairs created (Agonist-Antagonist: FDS-ED, BBL-TBL, LD-PMC, UT-ASD, RA-LM; Distal-Proximal: FDS-BBL, FDS-TBL, ED-BBL, ED-TBL and the pairs glenohumeral-scapular: PMC-SAD, GD-TS, SAD-SAnD, SAnD-DPnD, GD-DPnD) for analysis of co-activation/reciprocal inhibition and Vector Coding. Results; eight pairs (FDS-ED, BB-TBL, UT-ASD, FDS-BB, FDS-TBL, ED-TBL, ASD-ASnD, ASnD-DPnD) coactivated differently in blocks transition (p<0.05); and 12 (FDS-ED, BB-TBL, LD-PMC, UT-ASD, FDS-BB, FDS-TBL, ED-BB, ED-TBL, PMC-ASD, ASD-ASnD, ASnD-DPnD, LD-DPnD) co-activated differently in the score comparison (p<0.05). Also, the archers displayed different strategies of reciprocal inhibition in the blocks transition (FDS-ED, BB-TBL, UT-ASD, FDS-BB, FDS-TBL, ED-BBL, ED-TBL, ASD-ASnD; ASnD-DPnD) (p<0.05); one (UT-ASD) in the arrow analysis (p<0.05); and nine (FDS-ED, BB-TBL, FDS-BBL, FDS-TBL, ED-BBL, ED-TBL, ASD-ASnD, ASnD-DPnD, LD-DPnD) in the score analysis. Nine Vector Coding pairs (FDS-BB, FDS-TBL, ED-BB, ED-TBL, PMC-ASD, ASD-ASnD, ASnD- DPnD) changed the coordination phase mode in postural adjustments transition, while 11 pairs (FDS-ED; BB-TBL; LD-PMC; UT-ASD; FDS-BB; FDS-TBL; ED-BB; ED-TBL, PMC-ASD, ASD-ASnD, ASnD-DPnD) showed such changes in score analysis. The techniques presented in the present study revealed common parameters associated with temporal shoot-out and scores obtained by elite archers, dispite the complexity of performance analysis in high-performance athletes