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服部 佑哉; 鈴木 芳代; 曽 智*; 小林 泰彦; 辻 敏夫*
Proceedings of 17th International Symposium on Artificial Life and Robotics (AROB 2012) (CD-ROM), p.690 - 695, 2012/01
The pharyngeal pumping motion to send food to bowel is one of rhythmic movements in . In the present study we introduce the computer simulation of biological responses to investigate the mechanism of rhythm generation of the pharyngeal muscle. To conduct the simulations, we develop a mathematical model of the pharynx that corresponds to the actual structure at a muscular level and is possible to generate the pumping rhythms. Each of 20 muscular cells was represented as an electrophysiological model that calculates the individual membrane potential to simulate the behavior of membrane potentials and the characteristics of each pharyngeal muscular cell. The connections between individual muscular-cell models were defined based on the actual electrical connections of muscular cells so as to transmit the membrane potentials. To examine whether the proposed model can generate the pumping rhythms in the pharynx, we simulated the electropharyngeogram (EPG), which is caused by the electrophysiological response of muscular cells and is one of the few signals possible to measure. We confirmed that the proposed model could generate rhythms similar to the EPG measured from . Moreover, our model could reproduce the EPG of a mutant. This is probably the first study that constructed a mathematical model of pharynx in and successfully simulated its rhythmic signals.
川妻 伸二; 岡田 尚; 福嶋 峰夫
no journal, ,
日本原子力研究開発機構(JAEA)は2001年に発生したJCO臨界事故の後、原子力災害対応ロボットを開発した。ただし残念ながらそれらは2011年3月11日の巨大地震と津波で発生した福島第一原発事故の直後においては、これらの原子力災害対応ロボットは動作しない状態であった。その後JAEAでは事故対応の進展に応じて前述の原子力災害対応ロボットを改造し、またロボットコントロール車を整備してきた。そしてJAEAはロボットとロボットコントロール車を東京電力に提供し、プラントの復旧に協力してきた。本報告では、福島第一原発事故へのJAEAロボット等の緊急対応の概要及びそこから学んだ教訓を説明する。