Download or read book Spiking Central Pattern Generators Through Reverse Engineering of Locomotion Patterns written by Andrés Espinal and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In robotics, there have been proposed methods for locomotion of nonwheeled robots based on artificial neural networks; those built with plausible neurons are called spiking central pattern generators (SCPGs). In this chapter, we present a generalization of reported deterministic and stochastic reverse engineering methods for automatically designing SCPG for legged robots locomotion systems; such methods create a spiking neural network capable of endogenously and periodically replicating one or several rhythmic signal sets, when a spiking neuron model and one or more locomotion gaits are given as inputs. Designed SCPGs have been implemented in different robotic controllers for a variety of robotic platforms. Finally, some aspects to improve and/or complement these SCPG-based locomotion systems are pointed out.

Download or read book Cognitive and Computational Neuroscience written by Seyyed Abed Hosseini and published by BoD – Books on Demand. This book was released on 2018-05-30 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book "Cognitive and Computational Neuroscience - Principles, Algorithms and Applications" will answer the following question and statements: System-level neural modeling: what and why? We know a lot about the brain! Need to integrate data: molecular/cellular/system levels. Complexity: need to abstract away higher-order principles. Models are tools to develop explicit theories, constrained by multiple levels (neural and behavioral). Key: models (should) make novel testable predictions on both neural and behavioral levels. Models are useful tools for guiding experiments. The hope is that the information provided in this book will trigger new researches that will help to connect basic neuroscience to clinical medicine.

Download or read book Autonomous Generation and Control of Central Pattern Generator Networks for Modular Robot Locomotion written by Kevin J. Gucwa and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular robots hold the promise of being a complete solution to many problems within science. Their adaptability within hardware and software can provide the right robot for each and every situation. Properly controlling the hardware with coordinated locomotion is challenging but essential for the modules to work together and perform the assigned tasks. This research study has developed a two tiered approach which can coordinate and control the locomotion of modular robots assembled into bio-inspired shapes. The lowest level of control is in the joint space whereby all joints need to perform the right actions at the right time to produce a collaborative effort that results in locomotion. To accomplish this the Central Pattern Generator (CPG) network concept is applied from spinal vertebrate locomotion control. Each joint within the robot contributes in a small way to produce a coordinated, collaborative motion utilizing the whole body in unison. On top of the CPG network is a controller derived from the brain's cerebellum control system to modulate the CPG network to perform specific tasks such as path following. To accomplish the CPG-based coordinate locomotion, a tool kit for automatically generating the Central Pattern Generator equations is presented. Robot shapes created in XML are read and parsed to determine sub-structures of the robot which adhere to common and known locomotion patterns for the specific modular robot currently utilized. Locomotion is based upon coordinated whole-body motion which is necessary for low-powered modular robots, such as the Linkbot used in this research, to create locomotion. By parsing the structure, the number of optimizable control parameters is drastically reduced to aid inefficient simulation of motion parameters. A simulation-based Genetic Algorithm process is used to generate motions and optimize the parameters of motion. The reduction in control parameters for large structures is an order of magnitude from the theoretical maximum. From simulated results of various shapes constructed out of the modules, the parsing of the shape increases the robot's linear speed when compared to optimizing all variables of the CPG network. The CPG networks capabilities are validated with hardware versions of the robots. Once the CPG network has been determined which effectively controls a particular shape of robot, the network can be modulated to produce specific locomotion capabilities. Coordination between the joints is created by the network to produce locomotion. The control scheme on top of the CPG network is necessary to create a robot that can move predictably and follow objective trajectories. Again the control system takes inspiration from biology to provide real-time control of the CPG network that is controlling the modular robot configurations. In this research the brain's cerebellum, which is in charge of modulating the walking characteristics of humans, is modeled to modulate the CPG network tocreate path-following robots. Waypoints are used to generate cubic spline paths for the robot; a camera is used to track the robot's heading in reference to the path; and the error in heading is passed into a fuzzy controller to convert the heading error into a turn signal that is applied to the robot's CPG network. The CPG network and controller are calculated online in real-time to follow the desired trajectories. Experiments have been completed within a simulation environment built specifically for the robots used. The robots are able to accurately track the various paths laid out irregardless of the complexity and length. Root Mean Square (RMS) error is calculated for each of the experiments and shows that the robots can maintain an error between five and twelve centimeters for paths that average eight meters in length. For the snake robot the robustness of the controller is checked by adjusting the friction between the robot and the ground. This controller is not affected by changes in friction which alter the motion characteristics of the CPG network.

Download or read book Hierarchical Control for Bipedal Locomotion Using Central Pattern Generators and Neural Networks written by Sayantan Auddy and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Modelling a Central Pattern Generator for Quadrupedal Locomotion written by Sally A. Richmond and published by . This book was released on 1993 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Modulation of Locomotor Central Pattern Generators by Octopamine and Tyramine Indrosophila Larvae written by Waldemar Ockert and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Movement is controlled by neuronal central pattern generator (CPG) networks that are segmentally organised in organisms across the animal kingdom. The precise role of neuromodulators in the function, development and, particularly, the maintenance of these circuits is currently unresolved. This study investigates the effects of chronically altered signalling of tyramine and/or octopamine, two well established neuromodulators, in Drosophila larval locomotion. It shows that tyramine reduces crawling speed in larvae, whereas octopamine increases speed up to a physiological maximum. Changes in crawling speed are mediated by modulating stride duration, whilst stride length remains constant. These two neuromodulators also affect segmental muscle contraction and relaxation rates, indicative that the effects on crawling speed are likely to be at least partially due to modulatory effects on muscle physiology. Muscle recordings from muscle M6 in two adjacent segments, during fictive forward locomotion show that stride duration is influenced by a variable time delay between segmental CPG outputs. Frequency and duration of individual segmental outputs, by contrast, remains constant. The behavioural and electrophysiological data suggest, therefore, that the segmental locomotor CPG outputs remain constant in response to chronically altered neuromodulatory signalling. This study also identified a close spatial proximity of motor neuronal dendritic branches and putatively octopaminergic and/or tyraminergic synaptic terminal varicosities in the ventral nerve cord (VNC) neuropil. Moreover, manipulation of a putatively octopaminergic and/or tyraminergic subpopulation of interneurons, located in anterior brain regions, is sufficient to induce a similar, albeit smaller, larval crawling deficit. This indicates that the effects of locomotion may be induced in the central nervous system. This is confirmed in identified motor neurons as chronic changes in octopaminergic and/or tyraminergic signalling increase the frequency of bursting of action potential firing. In addition, the synaptic current amplitudes are substantially reduced in both ventral and dorsal muscle- innervating motor neurons, indicative of an effect to presynaptic excitation. In contrast, the function of neuromuscular junction remains largely unchanged. Taken together, this data shows that neuromodulation is sufficient to alter the output of a relatively small group of neurons, that comprise the locomotor CPG. The site of action of these modulators is, however, likely to be diverse.

Download or read book Reinforcement Learning of Locomotion Based on Central Pattern Generators written by and published by . This book was released on 2014 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Encyclopedia of Computational Neuroscience written by Dieter Jaeger and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Rhythms of the Brain written by G. Buzsáki and published by Oxford University Press. This book was released on 2011 with total page 465 pages. Available in PDF, EPUB and Kindle. Book excerpt: Studies of mechanisms in the brain that allow complicated things to happen in a coordinated fashion have produced some of the most spectacular discoveries in neuroscience. This book provides eloquent support for the idea that spontaneous neuron activity, far from being mere noise, is actually the source of our cognitive abilities. It takes a fresh look at the coevolution of structure and function in the mammalian brain, illustrating how self-emerged oscillatory timing is the brain's fundamental organizer of neuronal information. The small-world-like connectivity of the cerebral cortex allows for global computation on multiple spatial and temporal scales. The perpetual interactions among the multiple network oscillators keep cortical systems in a highly sensitive "metastable" state and provide energy-efficient synchronizing mechanisms via weak links. In a sequence of "cycles," György Buzsáki guides the reader from the physics of oscillations through neuronal assembly organization to complex cognitive processing and memory storage. His clear, fluid writing-accessible to any reader with some scientific knowledge-is supplemented by extensive footnotes and references that make it just as gratifying and instructive a read for the specialist. The coherent view of a single author who has been at the forefront of research in this exciting field, this volume is essential reading for anyone interested in our rapidly evolving understanding of the brain.

Download or read book Introduction to Sports Biomechanics written by Roger Bartlett and published by Routledge. This book was released on 2002-04-12 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: First published in 1996. Routledge is an imprint of Taylor & Francis, an informa company.

Download or read book Dynamic Biological Networks written by Ronald M. Harris-Warrick and published by MIT Press. This book was released on 1992 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: This introduction to the crustacean stomatogastric nervous system (STNS) describes some of the best-understood neural networks in the animal kingdom at cellular, network, behavioural, comparative and evolutionary levels of analysis.

Download or read book The 2030 Spike written by Colin Mason and published by Routledge. This book was released on 2013-06-17 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: The clock is relentlessly ticking! Our world teeters on a knife-edge between a peaceful and prosperous future for all, and a dark winter of death and destruction that threatens to smother the light of civilization. Within 30 years, in the 2030 decade, six powerful 'drivers' will converge with unprecedented force in a statistical spike that could tear humanity apart and plunge the world into a new Dark Age. Depleted fuel supplies, massive population growth, poverty, global climate change, famine, growing water shortages and international lawlessness are on a crash course with potentially catastrophic consequences. In the face of both doomsaying and denial over the state of our world, Colin Mason cuts through the rhetoric and reams of conflicting data to muster the evidence to illustrate a broad picture of the world as it is, and our possible futures. Ultimately his message is clear; we must act decisively, collectively and immediately to alter the trajectory of humanity away from catastrophe. Offering over 100 priorities for immediate action, The 2030 Spike serves as a guidebook for humanity through the treacherous minefields and wastelands ahead to a bright, peaceful and prosperous future in which all humans have the opportunity to thrive and build a better civilization. This book is powerful and essential reading for all people concerned with the future of humanity and planet earth.

Download or read book Pulsed Neural Networks written by Wolfgang Maass and published by MIT Press. This book was released on 2001-01-26 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most practical applications of artificial neural networks are based on a computational model involving the propagation of continuous variables from one processing unit to the next. In recent years, data from neurobiological experiments have made it increasingly clear that biological neural networks, which communicate through pulses, use the timing of the pulses to transmit information and perform computation. This realization has stimulated significant research on pulsed neural networks, including theoretical analyses and model development, neurobiological modeling, and hardware implementation. This book presents the complete spectrum of current research in pulsed neural networks and includes the most important work from many of the key scientists in the field. Terrence J. Sejnowski's foreword, "Neural Pulse Coding," presents an overview of the topic. The first half of the book consists of longer tutorial articles spanning neurobiology, theory, algorithms, and hardware. The second half contains a larger number of shorter research chapters that present more advanced concepts. The contributors use consistent notation and terminology throughout the book. Contributors Peter S. Burge, Stephen R. Deiss, Rodney J. Douglas, John G. Elias, Wulfram Gerstner, Alister Hamilton, David Horn, Axel Jahnke, Richard Kempter, Wolfgang Maass, Alessandro Mortara, Alan F. Murray, David P. M. Northmore, Irit Opher, Kostas A. Papathanasiou, Michael Recce, Barry J. P. Rising, Ulrich Roth, Tim Schönauer, Terrence J. Sejnowski, John Shawe-Taylor, Max R. van Daalen, J. Leo van Hemmen, Philippe Venier, Hermann Wagner, Adrian M. Whatley, Anthony M. Zador

Download or read book Neurobiology of Motor Control written by Scott L. Hooper and published by John Wiley & Sons. This book was released on 2017-09-05 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: A multi-disciplinary look at the current state of knowledge regarding motor control and movement—from molecular biology to robotics The last two decades have seen a dramatic increase in the number of sophisticated tools and methodologies for exploring motor control and movement. Multi-unit recordings, molecular neurogenetics, computer simulation, and new scientific approaches for studying how muscles and body anatomy transform motor neuron activity into movement have helped revolutionize the field. Neurobiology of Motor Control brings together contributions from an interdisciplinary group of experts to provide a review of the current state of knowledge about the initiation and execution of movement, as well as the latest methods and tools for investigating them. The book ranges from the findings of basic scientists studying model organisms such as mollusks and Drosophila, to biomedical researchers investigating vertebrate motor production to neuroengineers working to develop robotic and smart prostheses technologies. Following foundational chapters on current molecular biological techniques, neuronal ensemble recording, and computer simulation, it explores a broad range of related topics, including the evolution of motor systems, directed targeted movements, plasticity and learning, and robotics. Explores motor control and movement in a wide variety of organisms, from simple invertebrates to human beings Offers concise summaries of motor control systems across a variety of animals and movement types Explores an array of tools and methodologies, including electrophysiological techniques, neurogenic and molecular techniques, large ensemble recordings, and computational methods Considers unresolved questions and how current scientific advances may be used to solve them going forward Written specifically to encourage interdisciplinary understanding and collaboration, and offering the most wide-ranging, timely, and comprehensive look at the science of motor control and movement currently available, Neurobiology of Motor Control is a must-read for all who study movement production and the neurobiological basis of movement—from molecular biologists to roboticists.

Download or read book Spiking Neuron Models written by Wulfram Gerstner and published by Cambridge University Press. This book was released on 2002-08-15 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt: Neurons in the brain communicate by short electrical pulses, the so-called action potentials or spikes. How can we understand the process of spike generation? How can we understand information transmission by neurons? What happens if thousands of neurons are coupled together in a seemingly random network? How does the network connectivity determine the activity patterns? And, vice versa, how does the spike activity influence the connectivity pattern? These questions are addressed in this 2002 introduction to spiking neurons aimed at those taking courses in computational neuroscience, theoretical biology, biophysics, or neural networks. The approach will suit students of physics, mathematics, or computer science; it will also be useful for biologists who are interested in mathematical modelling. The text is enhanced by many worked examples and illustrations. There are no mathematical prerequisites beyond what the audience would meet as undergraduates: more advanced techniques are introduced in an elementary, concrete fashion when needed.

Download or read book Introduction to Aircraft Flight Mechanics written by Thomas R. Yechout and published by AIAA. This book was released on 2003 with total page 666 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on a 15-year successful approach to teaching aircraft flight mechanics at the US Air Force Academy, this text explains the concepts and derivations of equations for aircraft flight mechanics. It covers aircraft performance, static stability, aircraft dynamics stability and feedback control.

Download or read book Applied Engineering Principles Manual Training Manual NAVSEA written by Naval Sea Systems Command and published by . This book was released on 2019-07-15 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt: Chapter 1 ELECTRICAL REVIEW 1.1 Fundamentals Of Electricity 1.2 Alternating Current Theory 1.3 Three-Phase Systems And Transformers 1.4 Generators 1.5 Motors 1.6 Motor Controllers 1.7 Electrical Safety 1.8 Storage Batteries 1.9 Electrical Measuring Instruments Chapter 2 ELECTRONICS REVIEW 2.1 Solid State Devices 2.2 Magnetic Amplifiers 2.3 Thermocouples 2.4 Resistance Thermometry 2.5 Nuclear Radiation Detectors 2.6 Nuclear Instrumentation Circuits 2.7 Differential Transformers 2.8 D-C Power Supplies 2.9 Digital Integrated Circuit Devices 2.10 Microprocessor-Based Computer Systems Chapter 3 REACTOR THEORY REVIEW 3.1 Basics 3.2 Stability Of The Nucleus 3.3 Reactions 3.4 Fission 3.5 Nuclear Reaction Cross Sections 3.6 Neutron Slowing Down 3.7 Thermal Equilibrium 3.8 Neutron Density, Flux, Reaction Rates, And Power 3.9 Slowing Down, Diffusion, And Migration Lengths 3.10 Neutron Life Cycle And The Six-Factor Formula 3.11 Buckling, Leakage, And Flux Shapes 3.12 Multiplication Factor 3.13 Temperature Coefficient...