This paper deals with the design of a robotic snake, its assembly, simulation using CoppeliaSim, and the testing of various methods for the control of robotic snakes (Serpentinoid, CPG). For individual control methods, the influence of selected parameters on the signals controlling the motorized joints of the robotic snake is observed, and their influence on the speed and energy consumption of the given mechanism is described.

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This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics of any locomotion robot considered as a mobile multi-body system. These generic tools can help the engineers or researchers in the design, control and motion planning of manipulators as well as locomotion robots with a large number of internal degrees of freedom. The efficient algorithms are proposed for discrete and continuous robots. These methodological tools are applied to numerous illustrative examples taken from the bio-inspired robotics such as snake-like robots, caterpillars, and others like snake-board, etc.

Snakes are one of the world’s most versatile organisms, at ease slithering through rubble or climbing vertical tree trunks. Their adaptations for conquering complex terrain thus serve naturally as inspirations for search and rescue robotics. In a combined experimental and theoretical investigation, we elucidate the propulsion mechanisms of snakes on both hard and granular substrates. The focus of this study is on physics of snake interactions with its environment. Snakes use one of several modes of locomotion, such as slithering on flat surfaces, sidewinding on sand, or accordion-like concertina and worm-like rectilinear motion to traverse crevices. We present a series of experiments and supporting mathematical models demonstrating how snakes optimize their speed and efficiency by adjusting their frictional properties as a function of position and time. Particular attention is paid to a novel paradigm in locomotion, a snake’s active control of its scales, which enables it to modify its frictional interactions with the ground. We use this discovery to build bio-inspired limbless robots that have improved sensitivity to the current state of the art: Scalybot has individually controlled sets of belly scales enabling it to climb slopes of 55 degrees. These findings will result in developing new functional materials and control algorithms that will guide roboticists as they endeavor towards building more effective all-terrain search and rescue robots.

Objetivo: descrever os achados de citologia de impressão em voluntários saudáveis e correlacioná-los com testes de olho seco e sintomatologia. Métodos: coleta de citologia de impressão (CI) da conjuntiva superior, inferior, nasal e temporal após anamnese, questionário de sintomas (QU) e exames clínicos biomicroscópicos, teste de Schirmer (TS), tempo de ruptura do filme lacrimal (TRFL), escores de fluoresceína (EF) e rosa bengala (ERB). Resultados: Foram examinados 78 olhos de 39 pacientes (30 mulheres, 85% brancos). Idade média foi de 36 anos (16-71 anos). Oitenta e cinco porcento dos pacientes eram assintomáticos no QU. TRFL médio foi de 13,6 segundos (70% ≥ 10 s), TS médio foi 19,2 mm (76% ≥ 6 mm), ERB foi 0-3 em 87%, EF foi zero em 75%. Biomicroscopia apresentou resultado normal em 65% dos olhos. CI foi normal em: 81% superior, 57% nasal, 87% inferior, 75% temporal. Foi encontrado padrão de cromatina snake-like em 15% das amostras superiores. Houve pouca correlação entre os testes clínicos, questionário e achados citológicos. A citologia de impressão do sítio nasal e a presença de cromatina snake-like associaram-se com alguns testes da superfície ocular, sintomas e com a idade dos pacientes. Conclusão: Nosso estudo encontrou 30% de testes clínicos anormais, sintomas e achados citológicos alterados (anormal e limítrofe) neste grupo de indivíduos normais. Os achados da conjuntiva bulbar da área de fenda e superior são os que mais apresentam alterações. Entretanto, apesar de algumas associações significativas, não houve correlação conclusiva entre testes, sintomas e citologia de impressão. / Purpose: To describe conjunctival findings of impression cytology in healthy volunteers and to correlate to dry eye tests and symptoms. Methods: superior, inferior, nasal and temporal bulbar conjunctivae impression cytology, symptoms questionnaire, slit lamp examination, Schirmer test (ST), tear film break-up time (TFBUT), fluorescein staining (FS) and rose Bengal staining (RBS) were evaluated. Results: 78 eyes of 39 patients (30 female, 85% white) were examined. Mean age was 36 years (16-71 years). Eighty-five percent of patients were asymptomatic in questionnaire. Mean TFBUT was 13.6 seconds (70% ≥ 10 sec), ST median was 19.2 mm (76% ≥ 6 mm), RBS grade was 0-3 in 87%, FS was 0 in 75%. Slit lamp examination did not reveal any alteration in 65% of the eyes. Impression cytology showed normal aspect in: 81% superior, 57% nasal, 87% inferior, and 75% temporal. Snake-like chromatin pattern was present in 15% of superior samples. There were few correlations among clinical tests, questionnaire result and cytological findings. Nasal impression cytology results and snake-like chromatin were associated with some ocular surface exams, symptoms and age of patients. Conclusion: Our study identified prevalence of 30% of abnormal clinical tests, symptoms, and altered cytological findings (abnormal and borderline) in this group of normal subjects. Impression cytology findings of exposed bulbar conjunctiva and superior conjunctiva are more often altered. Despite a few associations among tests, there was no conclusive correlation among these tests, symptoms and impression cytology results.

Objetivo: descrever os achados de citologia de impressão em voluntários saudáveis e correlacioná-los com testes de olho seco e sintomatologia. Métodos: coleta de citologia de impressão (CI) da conjuntiva superior, inferior, nasal e temporal após anamnese, questionário de sintomas (QU) e exames clínicos biomicroscópicos, teste de Schirmer (TS), tempo de ruptura do filme lacrimal (TRFL), escores de fluoresceína (EF) e rosa bengala (ERB). Resultados: Foram examinados 78 olhos de 39 pacientes (30 mulheres, 85% brancos). Idade média foi de 36 anos (16-71 anos). Oitenta e cinco porcento dos pacientes eram assintomáticos no QU. TRFL médio foi de 13,6 segundos (70% ≥ 10 s), TS médio foi 19,2 mm (76% ≥ 6 mm), ERB foi 0-3 em 87%, EF foi zero em 75%. Biomicroscopia apresentou resultado normal em 65% dos olhos. CI foi normal em: 81% superior, 57% nasal, 87% inferior, 75% temporal. Foi encontrado padrão de cromatina snake-like em 15% das amostras superiores. Houve pouca correlação entre os testes clínicos, questionário e achados citológicos. A citologia de impressão do sítio nasal e a presença de cromatina snake-like associaram-se com alguns testes da superfície ocular, sintomas e com a idade dos pacientes. Conclusão: Nosso estudo encontrou 30% de testes clínicos anormais, sintomas e achados citológicos alterados (anormal e limítrofe) neste grupo de indivíduos normais. Os achados da conjuntiva bulbar da área de fenda e superior são os que mais apresentam alterações. Entretanto, apesar de algumas associações significativas, não houve correlação conclusiva entre testes, sintomas e citologia de impressão. / Purpose: To describe conjunctival findings of impression cytology in healthy volunteers and to correlate to dry eye tests and symptoms. Methods: superior, inferior, nasal and temporal bulbar conjunctivae impression cytology, symptoms questionnaire, slit lamp examination, Schirmer test (ST), tear film break-up time (TFBUT), fluorescein staining (FS) and rose Bengal staining (RBS) were evaluated. Results: 78 eyes of 39 patients (30 female, 85% white) were examined. Mean age was 36 years (16-71 years). Eighty-five percent of patients were asymptomatic in questionnaire. Mean TFBUT was 13.6 seconds (70% ≥ 10 sec), ST median was 19.2 mm (76% ≥ 6 mm), RBS grade was 0-3 in 87%, FS was 0 in 75%. Slit lamp examination did not reveal any alteration in 65% of the eyes. Impression cytology showed normal aspect in: 81% superior, 57% nasal, 87% inferior, and 75% temporal. Snake-like chromatin pattern was present in 15% of superior samples. There were few correlations among clinical tests, questionnaire result and cytological findings. Nasal impression cytology results and snake-like chromatin were associated with some ocular surface exams, symptoms and age of patients. Conclusion: Our study identified prevalence of 30% of abnormal clinical tests, symptoms, and altered cytological findings (abnormal and borderline) in this group of normal subjects. Impression cytology findings of exposed bulbar conjunctiva and superior conjunctiva are more often altered. Despite a few associations among tests, there was no conclusive correlation among these tests, symptoms and impression cytology results.

Objetivo: descrever os achados de citologia de impressão em voluntários saudáveis e correlacioná-los com testes de olho seco e sintomatologia. Métodos: coleta de citologia de impressão (CI) da conjuntiva superior, inferior, nasal e temporal após anamnese, questionário de sintomas (QU) e exames clínicos biomicroscópicos, teste de Schirmer (TS), tempo de ruptura do filme lacrimal (TRFL), escores de fluoresceína (EF) e rosa bengala (ERB). Resultados: Foram examinados 78 olhos de 39 pacientes (30 mulheres, 85% brancos). Idade média foi de 36 anos (16-71 anos). Oitenta e cinco porcento dos pacientes eram assintomáticos no QU. TRFL médio foi de 13,6 segundos (70% ≥ 10 s), TS médio foi 19,2 mm (76% ≥ 6 mm), ERB foi 0-3 em 87%, EF foi zero em 75%. Biomicroscopia apresentou resultado normal em 65% dos olhos. CI foi normal em: 81% superior, 57% nasal, 87% inferior, 75% temporal. Foi encontrado padrão de cromatina snake-like em 15% das amostras superiores. Houve pouca correlação entre os testes clínicos, questionário e achados citológicos. A citologia de impressão do sítio nasal e a presença de cromatina snake-like associaram-se com alguns testes da superfície ocular, sintomas e com a idade dos pacientes. Conclusão: Nosso estudo encontrou 30% de testes clínicos anormais, sintomas e achados citológicos alterados (anormal e limítrofe) neste grupo de indivíduos normais. Os achados da conjuntiva bulbar da área de fenda e superior são os que mais apresentam alterações. Entretanto, apesar de algumas associações significativas, não houve correlação conclusiva entre testes, sintomas e citologia de impressão. / Purpose: To describe conjunctival findings of impression cytology in healthy volunteers and to correlate to dry eye tests and symptoms. Methods: superior, inferior, nasal and temporal bulbar conjunctivae impression cytology, symptoms questionnaire, slit lamp examination, Schirmer test (ST), tear film break-up time (TFBUT), fluorescein staining (FS) and rose Bengal staining (RBS) were evaluated. Results: 78 eyes of 39 patients (30 female, 85% white) were examined. Mean age was 36 years (16-71 years). Eighty-five percent of patients were asymptomatic in questionnaire. Mean TFBUT was 13.6 seconds (70% ≥ 10 sec), ST median was 19.2 mm (76% ≥ 6 mm), RBS grade was 0-3 in 87%, FS was 0 in 75%. Slit lamp examination did not reveal any alteration in 65% of the eyes. Impression cytology showed normal aspect in: 81% superior, 57% nasal, 87% inferior, and 75% temporal. Snake-like chromatin pattern was present in 15% of superior samples. There were few correlations among clinical tests, questionnaire result and cytological findings. Nasal impression cytology results and snake-like chromatin were associated with some ocular surface exams, symptoms and age of patients. Conclusion: Our study identified prevalence of 30% of abnormal clinical tests, symptoms, and altered cytological findings (abnormal and borderline) in this group of normal subjects. Impression cytology findings of exposed bulbar conjunctiva and superior conjunctiva are more often altered. Despite a few associations among tests, there was no conclusive correlation among these tests, symptoms and impression cytology results.

京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第18942号 / 工博第3984号 / 新制||工||1614(附属図書館) / 31893 / 京都大学大学院工学研究科機械理工学専攻 / (主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 藤本 健治 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DGAM

In recent years, there has been a significant increase in the interest for snake like modular robots due to their superior locomotion capabilities in terms of versatility, adaptability and scalability. Passive wheeled planar snake like robots are a major category and they are being actively researched. Due to the nonholonomic constraints imposed on them, certain configurations lead to the singularity which must be avoided at all costs. Furthermore, it is vital to generate a locomotion pattern such that they can track a wide range of trajectories. All of these objectives must be accomplished smoothly and in an energy efficient manner. Studies indicate that meeting all of these requirements is a challenging problem. In this study, a novel form of the serpenoid curve is proposed in order to make the robot track arbitrary paths. A controller has been designed using the feedback linearization method. Afterwards, a new performance measure, considering both the efficiency and sustainability of the locomotion, has been proposed to evaluate the locomotion. Optimal parameters for the proposed serpenoid curve and the linear controller have been determined for efficient locomotion by running series of simulations. Relations between the locomotion performance, locomotion speed and eigenvalues of the linear controller have been demonstrated. Simulation results show striking differences between the locomotion by using the proposed serpenoid curve with optimal parameters and the locomotion by purely tracking a given path. Obtained results also indicate that the aforementioned requirements are met successfully and confirm the validity and consistency of the proposed performance measure.

This master thesis is discussing application of reinforcement learning in deep learning tasks. In theoretical part, basics about artificial neural networks and reinforcement learning. The thesis describes theoretical model of reinforcement learning process - Markov processes. Some interesting techniques are shown on conventional reinforcement learning algorithms. Some of widely used deep reinforcement learning algorithms are described here as well. Practical part consist of implementing model of robot and it's environment and of the deep reinforcement learning system itself.