15-6-20 :ロボットへの応用を考慮した蚕営繭行動の統計的解析

We have been trying to simulate silkworms' spinning behaviour by constructing stochastic models from real data in order to apply some basic principles of cocoon construction to a robot that spins a thread for the purpose of mending things. In this research, we fitted a probability distribution to the directions of a silkworm body and proposed a time series model for variations of the silkworm’s position during cocoon construction. The analysis of real data showed that the distribution of the body approximately followed a mixture distribution of two Fisher densities on a unit sphere except an early stage of spinning. In addition, it revealed that the autoregressive model we proposed was appropriate to represent periodicity for the variation of positions fixed by the silkworm.Article先進ファイバー工学研究教育拠点研究成果報告書 10: 135-135(2004)research repor