scholarly journals Controlling Underwater Robots with Electronic Nervous Systems

2010 ◽  
Vol 7 (1) ◽  
pp. 57-67 ◽  
Author(s):  
Joseph Ayers ◽  
Nikolai Rulkov ◽  
Dan Knudsen ◽  
Yong-Bin Kim ◽  
Alexander Volkovskii ◽  
...  
Keyword(s):  
Large Scale ◽  
Central Pattern Generators ◽  
Feasibility Studies ◽  
Natural Environments ◽  
Hybrid Architecture ◽  
Underwater Robots ◽  
Adaptive Capabilities ◽  
Analogue Vlsi ◽  
Pattern Generators ◽  
Exteroceptive Reflexes

We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM) neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration) electronic neuron (aVLSI) networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs) based on Hindmarsh–Rose (HR) dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs) with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

scholarly journals Evolution of central pattern generators and rhythmic behaviours

2016 ◽  
Vol 371 (1685) ◽  
pp. 20150057 ◽  
Author(s):  
Paul S. Katz
Keyword(s):  
Large Scale ◽  
Neural Circuits ◽  
Motor Pattern ◽  
Parallel Evolution ◽  
Central Pattern Generators ◽  
Neural Mechanism ◽  
Rhythmic Movements ◽  
Biological Organization ◽  
Gradual Evolution ◽  
Pattern Generators

Comparisons of rhythmic movements and the central pattern generators (CPGs) that control them uncover principles about the evolution of behaviour and neural circuits. Over the course of evolutionary history, gradual evolution of behaviours and their neural circuitry within any lineage of animals has been a predominant occurrence. Small changes in gene regulation can lead to divergence of circuit organization and corresponding changes in behaviour. However, some behavioural divergence has resulted from large-scale rewiring of the neural network. Divergence of CPG circuits has also occurred without a corresponding change in behaviour. When analogous rhythmic behaviours have evolved independently, it has generally been with different neural mechanisms. Repeated evolution of particular rhythmic behaviours has occurred within some lineages due to parallel evolution or latent CPGs. Particular motor pattern generating mechanisms have also evolved independently in separate lineages. The evolution of CPGs and rhythmic behaviours shows that although most behaviours and neural circuits are highly conserved, the nature of the behaviour does not dictate the neural mechanism and that the presence of homologous neural components does not determine the behaviour. This suggests that although behaviour is generated by neural circuits, natural selection can act separately on these two levels of biological organization.

scholarly journals Large scale analysis of the diversity and complexity of the adult spinal cord neurotransmitter typology

2019 ◽  
Author(s):  
Andrea Pedroni ◽  
Konstantinos Ampatzis
Keyword(s):  
Spinal Cord ◽  
Nervous System ◽  
Large Scale ◽  
Central Pattern Generators ◽  
Adult Zebrafish ◽  
Large Scale Analysis ◽  
Complex Functions ◽  
Pattern Generators ◽  
Adult Spinal Cord ◽  
And Behavior

The development of nervous system atlases is a fundamental pursuit in neuroscience, since they constitute a fundamental tool to improve our understanding of the nervous system and behavior. As such, neurotransmitter maps are valuable resources to decipher the nervous system organization and functionality. We present here the first comprehensive quantitative map of neurons found in the adult zebrafish spinal cord. Our study overlays detailed information regarding the anatomical positions, sizes, neurotransmitter phenotypes, and the projection patterns of the spinal neurons. We also show that neurotransmitter co-expression is much more extensive than previously assumed, suggesting that spinal networks are more complex than first recognized. As a first direct application of this atlas, we investigated the neurotransmitter diversity in the putative glutamatergic V2a interneuron assembly of the adult zebrafish spinal cord. These studies shed new light on the diverse and complex functions of this important interneuron class in the neuronal interplay governing the precise operation of the central pattern generators.

Effect of Central Pattern Generators Depended Different Walking Strategies on Gait Ability of Patients after Stroke

2017 ◽  
Vol 27 (2) ◽  
pp. 40
Author(s):  
Hua WU ◽  
Zaihua RU ◽  
Congying XU ◽  
Xudong GU ◽  
Jianming FU
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generators

Integration of Ecological and Engineering Aspects in Planning Large Scale Tidal Power Development in the Bay of Fundy, Canada

1984 ◽  
Vol 16 (1-2) ◽  
pp. 281-295 ◽  
Author(s):  
Donald C Gordon
Keyword(s):  
Large Scale ◽  
Feasibility Studies ◽  
Bay Of Fundy ◽  
Final Decision ◽  
Power Development ◽  
Tidal Power ◽  
History Of ◽  
Scientists And Engineers ◽  
The Many ◽  
University Scientists

Large-scale tidal power development in the Bay of Fundy has been given serious consideration for over 60 years. There has been a long history of productive interaction between environmental scientists and engineers durinn the many feasibility studies undertaken. Up until recently, tidal power proposals were dropped on economic grounds. However, large-scale development in the upper reaches of the Bay of Fundy now appears to be economically viable and a pre-commitment design program is highly likely in the near future. A large number of basic scientific research studies have been and are being conducted by government and university scientists. Likely environmental impacts have been examined by scientists and engineers together in a preliminary fashion on several occasions. A full environmental assessment will be conducted before a final decision is made and the results will definately influence the outcome.

Rhythmic Pattern Generation in Invertebrates

2018 ◽  
pp. 390-400
Author(s):  
Astrid A. Prinz
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generation ◽  
Rhythmic Pattern ◽  
Neuronal Circuit ◽  
Neuronal Circuits ◽  
Timing Circuit ◽  
Core Components ◽  
Pattern Generators

This chapter begins by defining central pattern generators (CPGs) and proceeds to focus on one of their core components, the timing circuit. After arguing why invertebrate CPGs are particularly useful for the study of neuronal circuit operation in general, the bulk of the chapter then describes basic mechanisms of CPG operation at the cellular, synaptic, and network levels, and how different CPGs combine these mechanisms in various ways. Finally, the chapter takes a semihistorical perspective to discuss whether or not the study of invertebrate CPGs has seen its prime and what it has contributed—and may continue to offer—to a wider understanding of neuronal circuits in general.

scholarly journals ShadingNet: Image Intrinsics by Fine-Grained Shading Decomposition

2021 ◽  
Author(s):  
Anil S. Baslamisli ◽  
Partha Das ◽  
Hoang-An Le ◽  
Sezer Karaoglu ◽  
Theo Gevers
Keyword(s):  
Neural Network ◽  
Large Scale ◽  
State Of The Art ◽  
Image Decomposition ◽  
Natural Environments ◽  
Decomposition Algorithms ◽  
Ambient Light ◽  
Fine Grained ◽  
Large Scale Dataset ◽  
Direct Illumination

AbstractIn general, intrinsic image decomposition algorithms interpret shading as one unified component including all photometric effects. As shading transitions are generally smoother than reflectance (albedo) changes, these methods may fail in distinguishing strong photometric effects from reflectance variations. Therefore, in this paper, we propose to decompose the shading component into direct (illumination) and indirect shading (ambient light and shadows) subcomponents. The aim is to distinguish strong photometric effects from reflectance variations. An end-to-end deep convolutional neural network (ShadingNet) is proposed that operates in a fine-to-coarse manner with a specialized fusion and refinement unit exploiting the fine-grained shading model. It is designed to learn specific reflectance cues separated from specific photometric effects to analyze the disentanglement capability. A large-scale dataset of scene-level synthetic images of outdoor natural environments is provided with fine-grained intrinsic image ground-truths. Large scale experiments show that our approach using fine-grained shading decompositions outperforms state-of-the-art algorithms utilizing unified shading on NED, MPI Sintel, GTA V, IIW, MIT Intrinsic Images, 3DRMS and SRD datasets.

Models of central pattern generators for quadruped locomotion

2001 ◽  
Vol 42 (4) ◽  
pp. 291-326 ◽  
Author(s):  
Pietro-Luciano Buono ◽  
Martin Golubitsky
Keyword(s):  
Central Pattern Generators ◽  
Quadruped Locomotion ◽  
Pattern Generators
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