In the Middle Size Robot League (MSL) of RoboCup Soccer, many studies have been discussing about various approaches for realizing cooperative play. However, they are mainly discussing offensive behaviors such as a pass, a dribble and a shoot action, and then it is not including defensive behavior. Hence, we have been discussing cooperative defensive behavior for RoboCup Soccer. In order to achieve proposal system, we have developed and implemented DELAY behavior to our RoboCup MSL team "The_Nishikey" as the first step. DELAY is a part of action of cooperative defensive behavior of the robot. DELAY is a defensive behavior which keeps distance with the enemy carrying ball constant, and intercepts continuous cooperative play such as the pass and the shoot to delay the enemy action. This paper describes a development of DELAY. Through an experiment, we confirmed that DELAY was available for cooperative defensive behavior.
Background] Previous reports have showed that essential oils in aromatherapy have various pharmacological actions.In recently, "Sports aroma", which incorporates effects of essential oils into sports scenes attracts a lot of attention.[Aim] Our group have reported that stress hormones levels in humans are decreased by exposing to various essential oils.Especially, lavender essential oil (LEO) is known to decrease cortisol levels in saliva.However, there are few reports on detailed physiological effects of essential oil after exercise.In this study, we investigated fatigue recovery effects of exposure to essential oils after exercise by various physiological indices.[Method] Participants were exposed to LEO and water as control after vigorous exercise by exercise bike.Anti-fatigue effects were analyzed by vital signs such as blood lactate level, antioxidant, and various hormones in saliva.[Results] The group exposed to LEO showed blood lactate levels and salivary stress hormones were time-depend decreasing.In addition, LEO exposure improved vital sign indicators.[Discussion] In this experiment, it reveals that exposure to lavender essential oil after exercise effectively relieves fatigue.In future, the introduction of aroma therapy is expected as one of the new conditioning methods at sports scenes.
This paper proposes the self-localization method by an image evaluation which matches a present captured image to a field image captured previously. In conventional researches, the self-localization methods by using landmarks such as goal post or lines were proposed. However, in these methods, self-localization accuracy changes with places referred to as the landmarks. In order to reduce such accuracy change, we propose the self-localization method which uses the Higher-order Local Autocorrelation function (HLAC). HLAC has features of the location invariance and is easy to calculate. HLAC has been frequently used for object recognition in various fields. The experimental results show that an image evaluation using HLUC is available for self-localization in RoboCup.
